NAME
kins  kinematics definitions for LinuxCNCKinematics
5Axis Kinematics
Switchable Kinematics
SYNOPSIS
loadrt trivkins (use for most cartesian machines) loadrt corexykins loadrt genhexkins loadrt genserkins loadrt lineardeltakins (see separate manpage) loadrt maxkins loadrt pentakins loadrt pumakins loadrt rosekins loadrt rotarydeltakins loadrt rotatekins loadrt scarakins loadrt tripodkins loadrt xyzab_tdr_kins loadrt xyzactrtkins loadrt xyzbctrtkins loadrt 5axiskinsDESCRIPTION
Rather than exporting HAL pins and functions, these components provide the forward and inverse kinematics definitions for LinuxCNC.trivkins  generalized trivial kinematics
Joint numbers are assigned sequentially according to the axis letters specified with the coordinates= parameter. Example: loadrt trivkins
 Assigns all axis letters to joint numbers in sequence:
x==joint0, y==joint1, z==joint2
a==joint3, b==joint4, c==joint5
u==joint6, v==joint7, w==joint8
 Example: loadrt trivkins coordinates=xyz

 Assigns: x==joint0, y==joint1, z==joint2

 Example: loadrt trivkins coordinates=xz

 Assigns: x==joint0, z==joint1

 Example: loadrt trivkins coordinates=xyzy

 Assigns: x==joint0, y0==joint1, z==joint2, y1==joint3
 The kinematics type can be set with the kinstype= parameter:


kinstype= 1 for KINEMATICS_IDENTITY (default if kinstype= omitted) 

kinstype=[ bB] for KINEMATICS_BOTH 

kinstype=[ fF] for KINEMATICS_FORWARD_ONLY 

kinstype=[ iI] for KINEMATICS_INVERSE_ONLY
 Example: loadrt trivkins coordinates=xyz kinstype=b
 Example: coordinates=xyyzw kinstype=B

 Assigns: x==joint0, y==joint1 AND joint2, z==joint3, w==joint4
corexykins  CoreXY Kinematics
 X = 0.5*(JOINT_0 + JOINT_1)

 Y = 0.5*(JOINT_0  JOINT_1)

 Z = JOINT_2
 [KINS]JOINTS= must specify 3 or more joints (maximum 9)
 If enabled by the number of [KINS]JOINTS= specified, JOINT_3,4,5,6,7,8 correspond to coordinates A,B,C,U,V,W respectively.
genhexkins  Hexapod Kinematics
Gives six degrees of freedom in position and orientation (XYZABC). The location of base and platform joints is defined by HAL parameters. The forward kinematics iteration is controlled by HAL pins. (See switchkins documentation for more info) genhexkins.base.N.x

 genhexkins.base.N.y

 genhexkins.base.N.z

 genhexkins.platform.N.x

 genhexkins.platform.N.y

 genhexkins.platform.N.z
 Parameters describing the Nth joint's coordinates.
 genhexkins.spindleoffset
 Added to all joints Z coordinates to change the machine
origin. Facilitates adjusting spindle position.
 genhexkins.basen.N.x

 genhexkins.basen.N.y

 genhexkins.basen.N.z

 genhexkins.platformn.N.x

 genhexkins.platformn.N.y

 genhexkins.platformn.N.z
 Parameters describing unit vectors of Nth joint's
axis. Used to calculate strut length correction for cardanic joints and
noncaptive actuators.
 genhexkins.screwlead
 Lead of strut actuator screw, positive for the righthanded
thread. Default is 0 (strut length correction disabled).
 genhexkins.correction.N
 Current values of strut length correction for noncaptive
actuators with cardanic joints. genhexkins.convergencecriterion
Minimum error value that ends iterations with converged solution.
 genhexkins.limititerations
 Limit of iterations, if exceeded iterations stop with no
convergence.
 genhexkins.maxerror
 Maximum error value, if exceeded iterations stop with no
convergence.
 genhexkins.lastiterations
 Number of iterations spent for the last forward kinematics
solution.
 genhexkins.maxiterations
 Maximum number of iterations spent for a converged solution
during current session.
 genhexkins.tooloffset
 TCP offset from platform origin along Z to implement RTCP function. To avoid joints jump change tool offset only when the platform is not tilted.
genserkins  generalized serial kinematics
Kinematics that can model a general seriallink manipulator with up to 6 angular joints. (See switchkins documentation for more info) genserkins.AN

 genserkins.ALPHAN

 genserkins.DN
 Parameters describing the Nth joint's geometry.
maxkins  5axis kinematics example
Kinematics for Chris Radek's tabletop 5 axis mill named 'max' with tilting head (B axis) and horizintal rotary mounted to the table (C axis). Provides UVW motion in the rotated coordinate system. The source file, maxkins.c, may be a useful starting point for other 5axis systems.pentakins  Pentapod Kinematics
Gives five degrees of freedom in position and orientation (XYZAB). The location of base and effector joints is defined by HAL parameters. The forward kinematics iteration is controlled by HAL pins. pentakins.base.N.x

 pentakins.base.N.y

 pentakins.base.N.z

 pentakins.effector.N.r

 pentakins.effector.N.z
 Parameters describing the Nth effector joint's
radius and axial position.
 pentakins.convergencecriterion
 Minimum error value that ends iterations with converged
solution.
 pentakins.limititerations
 Limit of iterations, if exceeded iterations stop with no
convergence.
 pentakins.maxerror
 Maximum error value, if exceeded iterations stop with no
convergence.
 pentakins.lastiterations
 Number of iterations spent for the last forward kinematics
solution.
 pentakins.maxiterations
 Maximum number of iterations spent for a converged solution
during current session.
 pentakins.tooloffset
 TCP offset from effector origin along Z to implement RTCP function. To avoid joints jump change tool offset only when the platform is not tilted.
pumakins  kinematics for puma typed robots
Kinematics for a pumastyle robot with 6 joints pumakins.A2

 pumakins.A3

 pumakins.D3

 pumakins.D4
 Describe the geometry of the robot
rosekins  kinematics for a rose engine using
a transverse, longitudinal, and rotary joint (3 joints)rotarydeltakins  kinematics for a rotary delta machine
Rotary delta robot (3 Joints)rotatekins  Rotated Kinematics
The X and Y axes are rotated 45 degrees compared to the joints 0 and 1.scarakins  kinematics for SCARAtype robots
(See switchkins documentation for more info) scarakins.D1
 Vertical distance from the ground plane to the center of the inner arm.
 scarakins.D2
 Horizontal distance between joint[0] axis and joint[1] axis, ie. the length of the inner arm.
 scarakins.D3
 Vertical distance from the center of the inner arm to the center of the outer arm. May be positive or negative depending on the structure of the robot.
 scarakins.D4
 Horizontal distance between joint[1] axis and joint[2] axis, ie. the length of the outer arm.
 scarakins.D5
 Vertical distance from the end effector to the tooltip. Positive means the tooltip is lower than the end effector, and is the normal case.
 scarakins.D6
 Horizontal distance from the centerline of the end effector (and the joints 2 and 3 axis) and the tooltip. Zero means the tooltip is on the centerline. Nonzero values should be positive, if negative they introduce a 180 degree offset on the value of joint[3].
tripodkins  Tripod Kinematics
The joints represent the distance of the controlled point from three predefined locations (the motors), giving three degrees of freedom in position (XYZ) tripodkins.Bx

 tripodkins.Cx

 tripodkins.Cy
 The location of the three motors is (0,0), (Bx,0), and (Cx,Cy)
xyzactrtkins  5 Axis mill (Table Rotary/Tilting)
Tilting table (A) and horizontal rotary mounted to table (C axis) (5 Joints 0:x,1:y,2:z,3:a,4:c) with provisions to switch between xyzac and trivkins kinematic types. The joint mapping can be altered with the coordinates parameter in the same way as supported by trivkins. (See switchkins documentation for more info)xyzbctrtkins  5 Axis mill (Table Rotary/Tilting)
(5 Joints 0:x,1:y,2:z,3:b,4:c) with provisions to switch between xyzbc and trivkins kinematic types. The joint mapping can be altered with the coordinates parameter in the same way as supported by trivkins. (See switchkins documentation for more info)5axiskins  5 Axis bridge mill
XYZBCW  the W coordinate values (typically used for tool motion) are incorporated into XYZ positioning. (Only 5 joints are needed by the kinematics module but an additional joint is needed to display W values). (See switchkins documentation for more info)SEE ALSO
Kinematics section in the LinuxCNC documentation20141222  LinuxCNC Documentation 