Mach3 does not actually support kinematic control, however...
Within Mach3 there is a teach wizard called 'CopyCat' which will produce a Gcode file based on the manually created movements of a device which could be moved to each of the desired positions from the keyboard or an appropriately configured joystick. When the Gcode file is run the device will automatically mimic these movements which it has been taught. Unfortunately CopyCat has a limitation of 3 axes of movement so may (or may not) be suitable for use with a robotic arm – you would have to decide. There may be other Gcode 'teach' software available - I really have not looked.
Another member ‘krw125’ claims to have developed Mach3 5 axis kinematic control but this has not actually been verified by independent testing. If it’s any help his website is here
http://top-eb.fr/mach3fiveaxis/In the very early days of using robotic arms in industry they were programmed by the 'teach' method - nowadays, computer processing power has probably increased a million times enabling semi-automatic desktop CAD/CAM programming. Unfortunately Mach3 is never going to get to this level of control.
Tweakie.