Hi Roy!
As I already solved the Inverse Kinematics Equation you can start doing the program/script that converts a 3D point (X,Y,Z + the rotation matrix) to the angles of each articulation.
When I was thinking about it, I thought about a python script that reads a 3D point (+ the rotation matrix) from the command line and sends by serial the custom GCode with the solved angles for each articulation.
Hope it helps!