TCP 5-axis kinematics

Hello
Sorry for late answer, I have been buried alive under work lately.

The way that you do transfer between different kinematics is possible at zero position of rotary axis.
You can change between n amount of kinematic chains.

You can define your own M command to change between different kinematics.

You must have knowledge of machine tool kinematics.
You need to be able to form translation and rotation matrices from you machine and form a complete solution from this.

Paper from Rydy du de Preez, is good way to start implementing TCP on 5 axis kinematics:
alvarestech.com/temp/RoboAseaIRB6S2-Fiat...s-serial-robot-2.pdf

alvarestech.com/temp/RoboAseaIRB6S2-Fiat...dof-planer-robot.pdf

I am truly sorry that there is no easy way.
If it's not already done in linuxcnc you need to make it your self.

Help is always available, please look at my example and use it as bases.

I forgot, theres also a page in linuxcnc materials about 5-axis kinematics:

linuxcnc.org/docs/ja/html/motion/5-axis-kinematics.html

Hello, Thank you for taking the time to respond to my question.I know this is a matrix relationship, but I didn't study at university and it was a bit difficult for me.But thank you. I will go and learn ‘match change’.Thank you

Hello

I was finally fine tuning kinematics.

I found major error in inverse and forward kinematics.

XYZBCsmkins.X-offset
XYZBCsmkins.Z-offset

These parameters (pins) should be 0.0 at time given.

I will work on this problem.
I'll upload new .c file as i get it finished and tested.

Hello

I have found new problem with 5-axis kinematics. My machine loses joint position during operations.
After impeller roughing X axis was shifted 5mm.
Not mechanical problem, after rehoming axis it was normal.

So left are two causes: missed encoder pulses or changing between kinematics.
I would bet my money on later one.

I would like to get help resolving this.
Can someone ty and run vismac simulation with my kinematics.
And try get it lose its position.

I will try with real machine to near down problem.

I will upload new kinematics this evening.

New kinematics.
Offset problem corrected.

Axis shifting problem remains.
I think something happens during kinematic mode change.

new files

Hello

Sorry English is not my native language.

I would like to get help testing this latest version.

Problem is axis losing its position, most likely when changing kinematic model.