6-DOF ARM playing chess

I’m working on a small project where a 6-DOF robotic arm plays chess using computer vision and AI. The AI and computer vision parts are already complete. I now need help implementing the inverse kinematics that moves the arm based on the chess move outputs (e.g., moving from one square to another).

Scope:

The system is already detecting board states and generating move commands.

Your task will be to handle the arm movement part — calculating and executing joint angles for pick-and-place moves.

Technical Setup:

Hardware: Raspberry Pi 5 and Arduino Uno (must work within these).

Accuracy: ±5 mm positional precision.

Speed: Each move should complete within 5 seconds.

Communication latency: Under 100 ms between software and hardware.

What I Need:

Help with inverse kinematics implementation.

Efficient, reliable motion control compatible with Raspberry Pi 5 + Arduino Uno.

This is a focused, lightweight project — ideal for someone with experience in robotics control or robotic arm motion planning.