NAME

       lineardeltakins - Kinematics for a linear delta robot

SYNOPSIS

       loadrt lineardeltakins

KINEMATICS

       The  kinematics  model  is appropriate for a rostock/kossel-style design with three joints
       arranged in an equilateral triangle.  (0,0) is always the center of  the  working  volume.
       Joint  0 is at (0,R) and subsequent joints are 120 degrees clockwise (note that joint 0 is
       not at zero radians).  The length of the arm is L.

       Joints 0-2 are the linear carriages.  Axes ABC and UVW are  passed  through  unchanged  in
       joints 3-8, so that e.g., A can still be used to control an extruder.

PINS

       lineardeltakins.R float in
              Effective diameter of the platform.

              R  is different than the distance from the center of the table to the center of the
              belt/smooth rod/extrusion that the joints ride on.  In RepRap delta parlance, R  is
              DELTA_RADIUS which is computed as

              DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET.

       lineardeltakins.L float in
              Length  of  the  rod  connecting  the  carriage  to  the effector.  In RepRap delta
              parlance, L is DELTA_DIAGONAL_ROD.

NOTES

       The R and L values can be adjusted while LinuxCNC is running.  However, doing so while  in
       coordinated  mode  will  lead  to  a  step  change in joint position, which generally will
       trigger a following error if in joint mode with machine on.