I have  a 4 axis cilindrical robot.

Axis0   Z   height
Axis1   Ro   radius
Axis2   Fi   angle
Axis3   Omega   orientation
Is there any kintmatics module to my robot?
If not, were can i found a manual to compile the module. I have no problems
with te maths of the module, but no have experience in compilation.
Can y do the kinematics with the .comp?
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