Salam alikom I need any link or pdf about the concepts and basics of

Salam alikom
I need any link or pdf about the concepts and basics of 4th axis machining…please

Operating in 4 axis, implementation machine control in 4 axis including rotational axis or tool that path generation in 4 axis?

Man, four axis toolpath generation is tricky. I end up doing what I can by hand, because I don’t have access to software that can handle that. I’d love to hear people’s recommendations.

learn about inverse kinematic and collision detection.

I’ve been trying to do inverse kinematics on a lego-based robot arm. man, that’s trickier than I expected, too.

I have some example code here:
https://code.google.com/p/simplemultiaxiscam/

Ooooh, cool! Thanks!