I built the THOR robot arm. I also work at nScrypt, Inc. and we have a trunnion 5 axis and gantry 6 axis machine and we develop 6 axis software for these machines. Is it possible to run klipper on the fysetc spider or two SKR boards and control a 5 or 6 axis machine? 7 with an extruder or manipulator like a grabber.
The idea would be to use 6 axis CAM or other processors (such as nScrypt’s) to generate gcode like:
G1 X10 Y20 Z30 RS1 RT45 RR97 F100
That would move through the 6 axis movements in the same manner than norma klipper moves from one xyz to another xyz, just with more axes being simultaniously controlled.