Simulating the movement of Cable Suspended Parallel Robot system using Grasshopper

Hello,

I am trying to create a Cable suspended parallel robot system using Arduino Uno and four stepper motors. As a beginner to Arduino I dont know much where to start. But i have some general ideas about how the CPR system works . So the main question is "How can I control the movement of the object in Cartesian space in coordination with the Stepper rotation. Also I would like to simulate it using grasshopper before its implemented in to the model"

As far as i have read in some of the research papers the Jacobian Matrix solves this question between Movement in space and Rotation of the Motor. The struggle is "How can this be implemented in to Grasshopper"

All your suggestions are welcome.

Thanks in Advance

P.S: Some of my reference are below

https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant

http://mathworld.wolfram.com/Jacobian.html