Kinematics

Hello,

I'm using linuxcnc to control a delta robot for milling operation.

For this parallel robot, the relationship between the velocity of the cutter and joints velocities is non linear. this relationship is established by the jacobian matrix. In linuxcnc, we only introduced the geometric relations (forward and inverse kinematics).

My question is: How linuxcnc calculates the relationship between velocities for parallel robots ?

Thanks in advance