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

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25 May 2024 19:10 #301438 by woai312742
Replied by woai312742 on topic Kinematic model for a 5axis mill with universal (nutating) head
LinuxCNC_Demo_Configs\table-rotary_spindle-rotary-nutating\Documentation\XYZCBA_TRSRN
 
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26 May 2024 08:57 #301465 by Aciera
Replied by Aciera on topic Kinematic model for a 5axis mill with universal (nutating) head
Ah, yes.
Missed to change those when trying to harmonize the three papers. The images were also wrong. Should be fixed now.

Thanks for reporting.

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28 May 2024 09:26 - 28 May 2024 09:32 #301648 by woai312742
Replied by woai312742 on topic Kinematic model for a 5axis mill with universal (nutating) head
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.
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Last edit: 28 May 2024 09:32 by woai312742.

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28 May 2024 11:35 #301661 by Aciera
Replied by Aciera on topic Kinematic model for a 5axis mill with universal (nutating) head
For the TOOL kinematic model we start at the tool and work backwards to the work coordinates. A backwards rotation is the transposed rotation matrix.

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