I am currently doing something similar for an off-the-shelf drawing robot with two arms, each with a shoulder and an elbow joint - load svg, convert layers to numpy arrays, then get the angle configuration for each point and save them to a format the robot can read and draw. However, I am finding that the time required to compute the points is quite long.
The fastest way I have right now is a large look-up table (ie. precompute angles for each point of a canvas with a sufficient precision, then use the table to do fast searches for the nearest point).
The fastest way I have right now is a large look-up table (ie. precompute angles for each point of a canvas with a sufficient precision, then use the table to do fast searches for the nearest point).