can LinuxCNC handle 360 degree rotating arm?

I have used LinuxCNC on 3 machines so far, 1 - XYZ, 1 XYZA and 1 -XYUV.

My question is... Can it be modified to handle a 360 degree rotating arm robot that takes rotational angle (1-360 with fractional angles), Height (fractional inches) and length of reach (fractional inches)? I have attached a pic that shows a similarly layed out robot arm cause it's easier to show than describe.

Basically instead of normal X,Y,Z it would be polar Distance,Angle,Z. Can I just do a Cartesian to polar conversion on the X and Y axis and put that into HAL? Z would still be Z except instead of going down it goes up.

Am I thinking right?

Thanks
Jeff

I was expecting to specify the pattern in XYZ since I haven't been able to figure out how to convert a dxf designed in cartesion to polar. I normally use CamBam for cam and I can't see anyway to have it convert XYZ to R/Theta/H. Even if I could I'd still have to get the kinematics to take R/Theta/H and drive R/Theta/H.

Thanks for your help.

Jeff