The inverse kinematics math was done in Python and runs on an industrial PC. Once it was finally all put together [caltadaniel] had a functioning robotic arm for any task he could think of.

Researchers from Shibaura Institute of Technology, Waseda University, and Fujitsu have developed a novel way to make robots ...

The ANN of the inverse map from 6D kinematics to a 3D motor control sequences has three layers and twenty-four nodes total.