What an excellent little robot arm.
The subject of kinematic control comes up from time to time and there has been one solution put forward but (to my knowledge) it has not yet been independently proven to work successfully. Perhaps this is your opportunity to put it to the test and prove that it works ? – this thread refers;
http://www.machsupport.com/forum/index.php/topic,32107.0.htmlCurrently, your type of robot arm can be successfully used with Mach3 for repetitive tasks by using the NFS 'CopyCat' Wizard to generate the Gcode. A 'Teach' program is perhaps not what you are looking for but Mach3 was never really designed for kinematic control in the first place.
Good fortune with your project.
Tweakie.