Could someone point me to where I can read on setting up the kinematics
for a non-euclidean device (something more like a hexapod
or Stewart platform
rather than a gantry router).

This is just for my education, no specific use ... yet :)

I did try to read the manuals, but my understanding was not up to their
level
of description about how to do it.

Something like setting up a SCADA arm would be interesting to me, and should
be simple compared to a hexapod/Stewart table.
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