the model of a 6 DOF arm

Hello everyone:
Currently I intend to control a 6 DOF arm with LinuxCNC and I use the method of Introduction to Robotics Mechanics and Control to compute the DH paremeter.
but there is a question,the second joint of the arm we have is just Vertical,not horizontal，so there is just a 90 degree deviation to the model.The Encoders of the jont in arm are Absolute value encoder.
How to unite the model and the real robot,I just use HOME and HOME OFFSET ,setting HOME value is 90 and HOME OFFSET is just also 90 ,then when I home,the robot do not work and the position of the second joint is just 90.But as the Encoders of the jont in arm are Absolute value encoder,I am not sure whether it is right.
thank you

Hi chuchengbing,

I am currently working with 5 DOF robotic arm and is controlling with linuxcnc.

forum.linuxcnc.org/forum/10-advanced-con...b6-s2-simulation-pre

You can see the PUMA560 conf and use genserkins (It has all kinematics configurations for a 6 DOF arm, only you need to introduce DH values), but you need to define DH parameters of your model. Can you send a pic of your manipulator? You define your Home position and after that you define DH parameters.

Regards.

I have solved this question
Thank you very much