I think i am your man for this project, i am highly experienced in both Delphi, and Free Pascal and i am also Good with Artificial Intelligence Algorithms in Object Pascal.
and to get to your project.
If i understand you correctly what you need is a simulation of a robot arm, and also a procedure that can arrange things and all in a virtual environment,
If that is so i am going to need more information for example what do you intended to use the program for, and we can discuss the rest after you gave me the project