TCP 5-axis kinematics

No, trivkins has no idea about those offsets and does not create those pins.

Is there an existing kinematics module, which takes these two offsets into account without using TCP?

What would you expect them to do in a trivial kinematics?

I am only guessing what it is that you want to do, but possibly you could modify your HOME_OFFSET in the INI to put the absolute origin in the centre, then you could have zero offsets in the TCP kins and the trivkins origin would match.

Or, you could add an offset to a custom version of trivkins.

I have an offset of Dy in my machine, as shown in the picture. I want to compensate that with the Dy offset, which is usable in xyzac-trt-kins. So, in some way, I want to compensate the mismatch between axis C and Axis A, as they do not intersect each other, but without using inverse kinematics such as trt-kins.

I want to use forward kinematics such as trivkins and compensate my mechanical error. I have an xyzac machine. So, when rotating A, Z and Y would have to compensate the tip of the tool. Just like it is already implemented in trt-kins.

mittim wrote:

I want to use forward kinematics such as trivkins and compensate my mechanical error. I have an xyzac machine. So, when rotating A, Z and Y would have to compensate the tip of the tool. Just like it is already implemented in trt-kins.

How is this different from using work offsets or tool offsets? 

Maybe I have a wrong understanding of work offsets, but to my understanding, work offsets are not able to compensate for not intersecting axis of A and C. I made a sketch, that maybe helps understanding my problem.

In this simple example: For the tool being able to mill each side, it has to compensate its length according to the position of the A axis. Just like trt-kinematics is already doing when staying at XYZAC=0,0,0,0,0. I want to use this feature in simple forward kinematics.

I am not all too familiar with the code behind the kinematic modules, but to my understanding, X would just stay the same and every entry in Y and Z, which takes the rotation of C into account, could be ignored.