The same Tkinter/Python manual robotic arm control program I used on my Mac also worked fine on my Raspberry Pi with the AL5D robotic arm controlled by the Pololu Maestro Micro servo controller. I just had to change the device filename to "/dev/ttyACM0".
On the Mac side, I logged in with "ssh -X ..." and now any X Windows you open up on the Pi will come through to your Mac. I should note that to open up a general X session on the Pi, I use "lxsession", which seems to work better for me than "startx". Of course I have XQuartz installed on my Mac already.