Kinematics for nutating table rotary

This is from some recent work on table rotation kinematics
Includes:
- Adjustable nutation angle
- Adjustable table offsets x and y
- Adjustable orientation of primary axis (from XYZBC to XYZAC)
- TCP kinematics
- python remap implementing TWP (Tilted work plane) ie G53.n , G68.n , G69 codes


Sim config including the required xyzbc_tnr_kins.comp   (use halcompile --install ... ) and full documentation can be found at:
github.com/Sigma1912/LinuxCNC_Demo_Confi...able-nutating-rotary

 

Just giving this a bump so it doesn't show up in the 'No Replies' section.

do you have a machine that uses this?

I have a small AC rotary but it does not have a nutating joint just a plain old 90° setup.