Kinematics... again:/

Hi folks!

have you seen detailed tutorials/instructions how to make non trivial kinematic module for machine like robot manipulator and how to compile it to run under linuxcnc? I like linuxcnc and i use it for my bench pcb plotter. It's standard trivkins machine and i'd like to make one that behave like the one in the video:



it is sooo hard to figure out how to bite this subject if you are not programist/mathematician and not english speaking guy (at least not good enough to understand complex descriptions that usually assume that the reader have Ph. D in programming or robotics:))

Let's make some tutorial:)

Thank you Andy for reply. I'm afraid i'm too old to think about PhD in robotics:) I'll look at genserkins as you suggest. I did also read about D-H parameters. Clever though i'll have to read more to understand it enough.
Please tell me If i understand you right: i can create my own matrices according to D-H rules for both forward and reverse transformations and put them into genserkins and genserkins will do what? Then i will have to compile new kinematics module?
Linuxcnc reference i found here (point 7):

linuxcnc.org/docs/devel/html/motion/5-ax...inematics_components

says:
"The kinematics modules provided by LinuxCNC are typically written in the C-language. Since a standard structure is used, creation of a custom kinematics module is facilitated by copying an existing source file to a user file with a new name, modifying it, and then installing."
So do i have to write my own kinematics in C language or genserkins will create it based on D-H params i develop?
Have a good day.

that sliding joint... i thought that it would be easier because this joint coincide with X axis so it is trivial: joint 0 = X axis.

How can i thank you for this? Now i'm reading it and trying to understand what is going on there. It will take same time and i'm sure more questions will arise. C-language file have to be compiled, right? And compillation process will create proper folders and files automatically, right??

After reading:
linuxcnc.org/docs/2.7/html/hal/comp.html
i know that the robotkins.c (or other C language files with kinematics) is a real time component and it is to be compiled and installed 'outside the source tree' - but what does it mean 'outside the source tree'? You know the sentences like this make a non-linux user very confused. One is reading things like this and thinks he understand what he is reading but in fact he don't:)
I couldn't find the answer where should i go in the terminal? Should i be in home directory and then issue
sudo halcompile --install custonkim.c or maybe it is no important where am i? Where customkin.c file should be located when issuing halcompile?
Please tell me: after succesful compiling and installation of the new kinematics will there be a new configuration (i.e. 'customkin') available in 'My Configurations' tree in the LinuxCNC Configuration selector window?

Sorry for so newbie questions... it is all Gill Bates from Michaelsoft corp. fault;P