TCP 5-axis kinematics

Very nice.

Here is video of blade finishing:

Can anyone explain the changes that were made in LinuxCNC 2.8 that made switching between kinematics modes possible? I'm using MachineKit, which hasn't ported those changes and I'd like to be able to implement enabling/disabling tool center point control as described in this thread.

I think that separation of joints and axes is the one.

Easiest way would be to use linuxcnc instead of machinekit.
There are small powerful motherboards available.

allwinedesigns wrote: Can anyone explain the changes that were made in LinuxCNC 2.8 that made switching between kinematics modes possible?

I am not sure if the 2.8 changes are necessary for kinematics switching to work. It might work equally well in 2.7 or Machinekit. The cleverness (as I recall it, without re-reading the thread) was in the actual kinematics module.

If you wanted to port the Joints-Axes branch changes to Machinekit I think you would have a big task. It changed just about every file, in major ways.

Hello,
jsskangas.
You have switched between RTCP and 3+2 machining modes on LINUXCNC without restarting LINUXCNC.
This is very cool.

I want to construct the following two structures of 5 axis kinematics.
But I don't know much about this homogeneous transformation.







Only the table-table structure is in the linuxcnc help documentation.
linuxcnc.org/docs/ja/html/motion/5-axis-..._axis_configurations

Looking forward to your reply