Hi Vasil,
Very nice machine! Please tag the Video with Dynomotion or KFLOP if you don't mind.
We are working on more Kinematic support. I'd be willing to help you with the equations for RTCP to put in to a Kinematic module.
Do you know how your CAD system would like the angles specified in the GCode. Your configuration is a bit abnormal (Primary rotation about C).
Would A=rotate about X axis first, then B=rotate about Y axis second work for you?
Regards