Kinematic model for a 5axis mill with universal (nutating) head

LinuxCNC_Demo_Configs\table-rotary_spindle-rotary-nutating\Documentation\XYZCBA_TRSRN
 

Hi Aciera. Thank you for your contribution.Now I have some mathematical problems with the tool kinematic model,about forward transformation.

Why do all rotation matrices need to be transposed or inverted?I don't really understand the physics of what this means.

Hi Aciera,

Its been a long time.
I saw your work and it was great.
but I have a XYZAC-TRT machine and for some work I need to run my machine as 3+2 with TWP.
I saw this video as it was TRT machine:

So I want to know how I can use my machine as such.

Thank You in advance,

Regards,
Abhishek
 

Just wanted to say thanks for all the work on this.  I just got it working on my machine.  I don't have a nutating head, but settings the angle to 90 worked perfectly.  Also, since I have 2 c axis I edited the kinematics to pass through an additional W axis for the rotating table.    

Sorry, for all the questions, but I'm having a bit of trouble with TWP and was hoping I could get some help. TCP is working totally fine and it seems like TWP is partially working, but not quite correctly. Say I issue G68.2 X0Y0Z0 I0J-45K0 and G53.1, the spindle orients itself correctly and I can jog in X and Y, but not Z. Depending on the angles I use I get different axes I can jog. Using G68.3 I can see the plane set in the vismach, but I'm not able to jog at all.

I did mess with the kinematics file to make it work for my machine. TCP works great, so it seems to be working (I added a tandem Y axis and a W axis that isn't involved in the tcp math). Is there anything I could have messed up in the kinematics file? Also, I had to scale some things in the vismach since I'm working in inches. Is there anything in the twp remap files that I would need to scale? Thanks again for all the help.