Editing theta offset with genserkins?

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03 May 2018 20:12 #110142 by Wireline
Hi

I thought I would make a new (much shorter) post on genserkins and DH parameters rather than add to the old one!

Is there a way to add theta (as opposed to just the alpha, d and a parameters) offsets in genserkins? I have tracked my problem down to needing a 90 degree offset at my first joint in order to make the home locations correct.

Cheers

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09 May 2018 12:23 #110430 by andypugh
Does setting the home position to 90 have the same effect?

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09 May 2018 19:11 #110444 by Wireline
Hi Andy

In the end I went for a different home position as the kinematics seemed to cope much better with it. I am not sure of the mechanics of how genserkins treats the home position offsets. That said I did come across a different version of genserkins called DHKINS which allowed for inputting theta. I never got around to using it due to the above alternative plan.

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12 May 2018 02:03 #110591 by thang
i guess you mention about rotating coordinate system,in this case i think you should write some new functions in genserkins.

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18 Jun 2020 20:32 - 18 Jun 2020 20:33 #172037 by Tady
Hello

I also need J1 THETA offset. How did you implement the dhkins.c?
I downloaded the C and H files from here
alvarestech.com/temp/RoboAseaIRB6S2-Fiat...C/halitosis/dhkins.c
I used
halcompile --install dhkins.c

But what did you use in the ini file. I replaced the genserkins with dhkins but LinuxCNC does not load..
insmod for dhkins failed, returned -1

The genserkins is working perfectly in the simulation, but the pose of the robot is not practical. I would like the J1 to be upright (-90degrees). The home offset does not work

Thank you
Last edit: 18 Jun 2020 20:33 by Tady.

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