NAME

       rosekins - Kinematics for a rose engine

SYNOPSIS

       loadrt rosekins

KINEMATICS

          joint_0 linear, transverse   (perpendicular to spindle)
          joint_1 linear, longitudinal (parallel to spindle identity to z)
          joint_2 rotary, spindle      (workholding, not tool holding, e.g. not a highspeed spindle)

PINS

       rosekins.revolutions float out
              Count  of  crossings  of  the  negative  X  axis.  Clockwise crossings increment revolutions by 1,
              counterclockwise crossings decrement by 1.

       rosekins.theta_degrees float out
              Principal value for arctan(Y/X)

       rosekins.bigtheta_degrees float out
              Accumulated angle (theta + revolutions * 360)

NOTES

       Theta is the principal value of arctan(Y/X).  Joint_2 angle values are not limited to principal values of
       arctan(Y/X) but accumulate continuously as the spindle  is  rotated.   HAL  pins  are  provided  for  the
       principal value and a count of the number of revolutions.

       The  transverse  motion  is  exactly  perpendicular  to  the  spindle.  In a traditional rose engine, the
       transverse motion is created by 'rocking' the headstock about a pivot.  A typical pivot  length  combined
       with  the  limited amount of X travel in a real machine make the perpendicular approximation a reasonable
       model.

Kinematics Component                         LinuxCNC Documentation                                  ROSEKINS(9)