Kinematics for XYZAB mill

Got it!
It was just the matter of inverting the signs for any term in the kinematics model containing
revised comp attached.

For those of you following along and don't have 2.9 installed, here is a quick video of Aceria's amazing simulation with revised A axis rotation...



A big thanks to all.

EDIT: Replaced video followig kinematics revisions.

Thanks Rod,
1) I noticed the wrong rotation sense as well. We did invert the sines on the rotation matrices as described in Rudy's document but since the machine in question has the rotation sense defined as being opposite the right hand rule it seem that we don't need to do that.

2) I think you might be using the Identity kinematics. With the TCP on you should not see a toolpath in the vismach model when rotating B as the tool will be following the rotating coordinate point. Try to click on the GUI button 'TCP: XYZAB' and test again. What I see is that is seems to work for the A axis but B is not correct.

Need to put my thinking cap on, again.

No thats TCP mode for sure. You can see XYZAB is selected in the black window. Jogging the rotary axes will prove that.
When I was working with ChapEng, I got him to change  the B axis rotation but he felt it wasn't required on the A so it wasn't done.
If you compare your work with R(x0) in (2), you'll see you are using the non inverted sines.

Anyway, just grab my revised component and have  a play!

What was confusing in my video was I moved 2 axes at the one time. If you move just the B axis or the A axis, the tool will track the same point. I should have done that.

Actually, you are right, its not TCP. I just had a bit more of a play