Oh hell yea!

Just a few weeks ago at work we got a Universal Robots UR5 from another project in-house along with a Hand-E gripper.

I've never had so much fun programming and playing with a device ever. And it completely took me back to getting an Armatron 40 years ago and having so much fun - but also wishing I could somehow control it with software.

Apparently yes: https://news.ycombinator.com/item?id=43718493

Yes! The most amazing part about those things was they achieved all those axis' of motion with one or two motors.