Isekai no Seikishi Monogatari

[6pack]

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The story is set in an alternate world called Geminar, where countries have fought endless wars with replicas of humanoid Seikishi weapons that they found in ancient ruins. 15-year-old Masaki Kenshi, the half-brother of Tenchi Muyou! protagonist Masaki Tenchi, is summoned from another world to Geminar.

Source: ANN

[DemonKingXanxus]

I've only recently watched this but it's without a doubt one of the best of the affiliated Tenchi Muyo Series