Mitsubishi RV-6SDL Switchkins-config with simulation

Thought I share my config of a 6-axis Mitsubishi RV-6SDL using switchkins (genserkins/trivkins) kinematics by dgarrett.



Anybody who wants to have a try needs to build the Switchkins branch of LinuxCNC: www.panix.com/~dgarrett/stuff/s_kins_guide.txt

Try loading "welding.ngc" and make sure to Touch Off at Homeposition to X0 Y0 Z100 A0 B0 C0





This is just a simulation as yet. But I have the arm here and if the guys at STMBL Drives come through with an interface to these absolute encoders it should actually turn into a real thing.

Here is a document on how I derived the DH-Parameters and how to put these in the relevant Hal pins:



I hope some of you may find it interesting.

Added G91.2 xyzabc for incremental moves in Tool-Coordinate System.
Added G91.3 xyzabc for incremental xyz-moves in Tool-CS / abc in World-CS