MK2 Robotarm Kinematic for Linuxcnc 2.8 or higher
add with: halcompile --install mk2kins.c
Mathematics are based on https://hackaday.io/project/157951-stm32-robot-arm-controller/log/147424-more-human-friendly-firmware
Added calculations for basemotor and additional offsets.
W0 Offset of the tool ortogonal to the radius of the robotarm. WR Length-offset of the tool from the last joint