Editing theta offset with genserkins?

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

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.

i guess you mention about rotating coordinate system,in this case i think you should write some new functions in genserkins.

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
But what did you use in the ini file. I replaced the genserkins with dhkins but LinuxCNC does not load..
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