Can I Extract IPO animation graph information?

Is there any way I can extract the Animation Curve Data from Blender.

I have been programming stepper motor motion using python and processing. I want to ‘animate’ the movement of a robotic arm, them put the rotations of the axis into different stepper motors and reproduce in real life the motions of my animations. I will be looking at using the difference in the curve data per frame to move relevant amount of steps over a time period.

e.g. the mechanical arm I have been using for the intro in my channel of late

What I plan to do, is to 3D print the components to the mechanical arm.
Extract relevant rotation data from IPO curve for each moving part
Use a Stepper motor and Blender/Python to animate the 3D printed mechanical arm using IPO curve data

Really it should be straight forward in terms of algorithm, I just do not have a good way to extract IPO curve data (preferably in real time) in a practical way.