Im building a machine with an articulating spindal . I was reading the Mach3 manual and it says "if the machanism is like a robot arm or a hexapod, then Mach3 "will not" be able to control it because of the kinematic calculations that would be needed to relate the "tool"position in X,Y and Z coordinates to the lenght and rotation of the arms " is there a program that would solve this for me?