I've been working on an inverse kinematics solver that could be a useful part of a FreeCAD n-axis toolchain. I've been documenting the development here: https://hackaday.io/project/169499-solv ... h-modelica
The inverse kinematics part is working. The solver takes tool tip and tool orientation as input in the format x,y,z,i,j,k where x,y,z is the tool tip location and i,j,k is a normal vector pointing from the tool tip in the direction of the tool axis, and out outputs the corresponding machine joint or axis angles or coordinates.
To adapt the solver to a given machine it's a matter of modifying the Modelica model to match the targeted machine. The solver is really general and can handle all sorts of misalignments and non-linearities of a given machine.