6 DOF Kinematics (genserkins)

We are retrofitting a KUKA AGILUS R700 with LinuxCNC controls and are struggling with the kinematics.

The robot does not move at all, and the system locks up from genserkins errors after attempting to jog in World mode.

Our D-H parameters:


LinuxCNC 2.7.6

Attached are the HAL file for this configuration and a sample of the errors output by dmesg
Any attempt to jog the robot in world mode causes a flood of kinematics errors in the kernel log, which eventually freezes the computer.

We have also used genserkins from the command line to test our parameters, it also throws errors and does not solve the kinematics (forward or inverse). We tried command line genserkins with the default PUMA config also (the one that uses genserkins, not pumakins) and it will solve a forward or inverse kinematics solution, AND throws errors at the same time.

If anyone has any insight into why this is happening, any information would be greatly appreciated. Thanks!

Hi, have you solved the problems with serial kinematics?