I have added some documentation for several of the kinematics components
which did not have manual pages.  The documentation is in the
development version of the software, but as far as I know the gantrykins
documentation applies equally to the 2.3.x versions of emc2.

Gantry kinematics:
http://linuxcnc.org/docs/devel/html/man/man9/gantrykins.9.html

Other kinematics types (newly documented: maxkins, genserkins, pumakins,
scarakins -- some of these are not in 2.3.x):
http://linuxcnc.org/docs/devel/html/man/man9/kins.9.html

Index of development version documentation:
http://linuxcnc.org/docs/devel/html/#man9

Jeff

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