Multiaxis kinematics and limits - #4374

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grandixximo:multiaxis-kins-limits

Commits on Sep 18, 2026

twp: split the machine maths out of the tilted work plane remap

Sigma1912
authored and
grandixximo
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55c0f80
twp: keep the arc functions inside their domain
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eb2b66e
kinematics: add an optional Jacobian entry point
grandixximo
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98fa315
trtfuncs, 5axiskins, maxkins: supply the Jacobian
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7b4d6ba
corexykins, rotatekins, rosekins, matrixkins, millturn, userkins: supply the Jacobian
grandixximo
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9d17073
xyzab_tdr_kins, xyzacb_trsrn, xyzbca_trsrn: supply the Jacobian
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863e32f
tripodkins, lineardeltakins, rotarydeltakins, genhexkins, pentakins: supply the Jacobian
grandixximo
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506d40a
scarakins, scorbot-kins: supply the Jacobian
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81611db
genserkins: supply the Jacobian from its geometric one
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92d469e
tests: check the Jacobian of every module where it runs
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8c8b916
kinematics.h: C linkage guards, and the include guard closed at the end of the file
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2b248ac
interp: G43.4 and G49 as spellings over the kinematics switch
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5a5a9b7
interpreter: add the tilted work plane, G68.2, G68.4 and G69
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077b241
glcanon: draw the tilted work planes a program defines
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b599351
switchkins: separate the dispatch from rtapi_app_main()
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7f0cf5c
switchkins: let halcompile components use the switchkins core
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f67b61a
switchkins: add an out-of-tree module template
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34eb7a9
kins: include switchkins.h as an exported header
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a56dae0
switchkins: install the implementation as source for out-of-tree modules
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6f2834f
canon: stop printing on every kinematics switch
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a4461dc
kinematics: evaluate a module outside RT by binding to its live pins
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8ddd8da
kinematics: add the parameter block form of a module
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dda7887
trtfuncs, xyzac-trt-kins, xyzbc-trt-kins, maxkins: move onto the parameter block
grandixximo
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5a3cc16
corexykins, rotatekins, rosekins, tripodkins, scorbot-kins, the deltas, matrixkins, userkins: move onto the parameter block
grandixximo
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ccf38ab
scarakins, pumakins, three21kins: move onto the parameter block
grandixximo
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eed13dc
millturn, xyzab_tdr_kins, xyzacb_trsrn, xyzbca_trsrn: move onto the parameter block
grandixximo
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d97d229
genserkins, genhexkins, pentakins: move onto the parameter block
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5832d92
switchkinscomp: write the template on the parameter block
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8c5e75e
switchkins: declare the primary and the machine frame kinstype from the ops table
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bc45262
docs: describe the parameter block form of a kinematics module
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73ecbea
kinematics_user: take the joints in as well as out, and bind modules lazily
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5286fc5
tests: check that a module answers the same outside realtime
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e900b9c
kinematics: take the tool offset from motion, not from a net
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976f9a9
5axiskins, maxkins: take the tool length from motion
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8b2da1e
5axiskins: supply the work and tool frames
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fe0baf7
kinematics: reach the frames and the tool frame inverse from outside realtime
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8da6456
kinematics_user: read the module's pins by name, making nothing in HAL
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a78c17f
kinematics: retire the KINS_NOT_SWITCHABLE macro
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d788b82
kinematics.h: keep the interface, move the module side to kins_module.h
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0dd4c01
tests: put the nutating head kinematics next to the tilted work plane maths
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ad3beb0
motion: add the point-to-point move, interpolated in joint space
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9519858

Commits on Sep 19, 2026