[lerman]

This is the type of thing I used to do for a living (before I semi-retired). I would start by producing a functional spec. What are the inputs? What are the outputs? What are the algorithms to get from one to another?

I assume that the inputs are the X, Y, Z tables. The outputs are the signals to drive the hardware. The machine geometry and interfaces will need to be specified with a simple model that can be easily understood by the implementor.

You will need to have or acquire certain skills to do this job. The mathematics is really pretty simple. If you can't handle the trig/geometry yourself, I would suggest finding a consultant to help. A local college might have someone who can help you at a reasonable rate.

I would guess that by the time you are done, it would cost you a few tens of thousands of dollars for the entire job (software only). It's would be a fun job. In some ways, I'm sorry I'm not really available to quote on it.

Ken