Create read from robot command for kinematics

[JamesWigglesworth]

Something like:

'r #J_ANGLES_TO_XYZ 0 36000 0 0 0;'

or

'r #XYZ_TO_J_ANGLES 0 400000 300000 0 0 -1 1 1 1;'

This would allow non-DDE users to do kinematics calculations without actually moving the robot.