Can you get me started on using LinuxCNC on a non-traditional kinematic mechanis

Hey kind folks, 

Total newby to LinuxCNC and I'm just hoping for a nudge in the right direction. I would like to use Linux CNC to drive novel kinematic mechanism that will eventually resolve two simple XY coordinates. I do know the mathematical equations that resolve a couple of rotational joints with interesting kinematics into the XY coordinate, but I have no idea how to use that math in a way that will eventually wrote back to g codes. I'm sure there are samples of people using non-linear, non-xy mechanisms, but I'm not sure where to start. Any good resources for how I might take a kinematic macadism that is not a traditional thing? Linear XY where I know the math and get that so that g-codes will drive. They make it to properly? Sorry if this question isn't even phrased properly.  Not sure where to begin. 

Thanks!

@aciera,  thank you very much!  - do you have experience with non-trivial kinematics?  The example in the document you sent is actually pretty close to what I'm trying to do with a few exceptions. I note that the forward and inverse transformations transform joint lengths (AB, BD) to Cartesian coordinates.  if the joints were cables wrapped around a drum, would it still be appropriate to transform cable length the cartesian coordinates or would you actually resolve that back to stepper motor steps in order to define a cable length?

 

Sorry for the newby questions... Where does the code for non traditional kinematics reside?  I'm pretty sure we've derived the forward and reverse joint transformations but not exactly sure where these are stored? 

Thanks

Sorry... another newb question.

I have written and understand the need for a reverse transformation that converts a desired X,Y location to joint rotations (I have a simple 2-axis system).

We are running in open loop so there is no feedback.

Is there a reason LinuxCNC needs the "forward transformation" (which if I understand correctly, would convert a known joint rotation to LinuxCNC to a specific X,Y location. in an open loop system, what purpose does having both a forward and reverse transformation in your kinematics file do?