Kinematic model for a 5axis mill with universal (nutating) head

LinuxCNC_Demo_Configs\table-rotary_spindle-rotary-nutating\Documentation\XYZCBA_TRSRN
 

Ah, yes.
Missed to change those when trying to harmonize the three papers. The images were also wrong. Should be fixed now.

Thanks for reporting.

Hi Aciera. Thank you for your contribution.Now I have some mathematical problems with the tool kinematic model,about forward transformation.

Why do all rotation matrices need to be transposed or inverted?I don't really understand the physics of what this means.

For the TOOL kinematic model we start at the tool and work backwards to the work coordinates. A backwards rotation is the transposed rotation matrix.