I have written Arduino code to read a script to automate motion for the movie industry. The same script format can drive multiple servos and cheap steppers at the same time with one microcontroller. I do not have an easy way to generate the scripts. If you can understand how to do this, the rest is easy. A new idea is to use a special servo with feedback to generate the scripts by moving the unit by hand. This will take some development effort buy maybe this is what you want?