An emc user has contributed a kinematics module to correct for XY skew.
http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?ContributedComponents#millkins_trivial_kinematics_extended_by_XY_skew_correction
I have not personally used this kinematics module.

I think emc's main limitation when using kinematics to correct these
kinds of machine imperfections is that jogs are not corrected--a "Y" jog
will only turn the "Y" motor, not both motors together.

Jeff

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