I've build a simple robot arm with a gripper to implement inverse kinematics. In this case I could solve the equations analytically because the degrees of freedom of the robot are limited here. The gripper is always at a 45 degree angle with the ground: https://www.youtube.com/watch?v=Dg0DnYWF1tY
I plan to add position detection with OpenCV and advanced inverse kinematics using the damped least squares method. Let me know what you think.