Axis Interpolation in Trivial Kinematics

Hi everyone,
I have a robotic arm with 5 axis/joints all defined as rotary in the .ini file. I'm currently using trivial kinematics so that I can directly specify the joint angles in the g-code file G1 X Y Z A B. Do you know how LinuxCNC handles the axis interpolation in this case? From what I've understood, LinuxCNC moves all axis so that the movement starts and stops at the same time. Is it correct? Moreover, how is the feedrate for each axis computed?
Thanks,

Amedeo

if you go to G93 it can be calculatet at the TIME it needs to retch the point

some CAM system do this

if you do the ROBOT with the KINETICS tat is made for it like PUMA it will be this way so no need to interact by cam

WHY trivial kinetics if you got a Non Trivial mashine

Ok thanks! We tried this approach because we wanted to handle the robot kinematics through a separate program (written in Matlab).

then you need mathlab to tell to output G93 calculated on the Distance to the Axis zero point

Ok thanks again for the tip I'll try this solution!

here is a ready made code no need for headbang
www.ganotechnologies.com/cnc/rapidrotary/

Thanks, pretty cool program!

NP
if you want to move your robot like it is to do in a coordinatesystem you shoudt go for PUMA_kins

see the SIM -> AXIS->vismach->puma Puma560 INI File