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.