Develop an LLM-Powered 3-DOF Robotic Arm Controller

We are looking for an experienced Robotics and AI developer to build a 3-DOF robotic arm control system that integrates a Large Language Model (LLM) such as Claude, GPT, or Gemini. The objective is to enable the LLM to understand natural language commands, generate movement instructions, and control the robotic arm through an inverse kinematics engine. The system should include: A configurable 3-DOF robotic arm model with adjustable link lengths and joint limits. Forward Kinematics (FK) and Inverse Kinematics (IK) implemented from scratch in Python (no robotics toolboxes for the core kinematics). Numerical IK using Jacobian-based methods with support for singularity handling and joint limits. A modular control pipeline that accepts commands from an LLM (Claude, OpenAI GPT, Gemini, or similar) through an API. Translation of natural language instructions (e.g., "Move to the object at x=20, y=15, z=10" or "Pick up the red cube") into robot actions. A simulation environment with 3D visualization and animation for testing robot movements. A clean API between the LLM and the robot controller so different models can be plugged in with minimal changes. Structured logging of prompts, model responses, calculated joint angles, and execution status. I have attached python file, I have added detailed comments/mandatory functions which I want to execute, you can let me know if you have any better ideas.