Limisc, Perl Mini SSC-II software
So, what can it do? Well, not much. No heavy work at all, it's so small. But for small work, it's great. There are six servo motors in the arm, together with a servo motor controller (Mini SSC-II) which can be controlled via a standard RS-232 interface. The servo controller understands simple byte-digit-commands, as <255,3,128>, which means "controlcode","servo 3","take position 128 (out of 0-254)".
The latest software I've written for the Mini SSC-II is "Limisc", written in Perl. It uses and needs the "Curses" and "Widget" modules. It's not yet finished, but it's useable for experimenting, either interactively with the curses interface - or automated for just running a program file. More information here.
I've begun writing a GTK+ application in C, for controlling the servo controller. It's not ready at all, but you might find it useful for getting ideas and controlling the robot arm for simple tasks. Development is stalled.