How to develop Teach pandent for robotic arm

I am working in the development of 5 DOF robotic arm, The Controller will be consisted of 5 Serad Intelligent Servo Motion control drives, and I am working for HMI development currently, The Teach pandent as kuka uses in its KR C4 controller with its own processor, I want to do that on windows , I want to know which software will be best for this purpose for doing all necessary features which Kuka does
I would use C or C++. You better be good at math. It is one thing to save the positions you 'teach'. It is much harder to do the interpolation between the points at a desired speed.