PUMA 200 Robotarm and some Hal/INI issues

hitchhiker
Away
Elite Member

31 Jul 2026 13:48 #348287 by hitchhiker

Replied by hitchhiker on topic PUMA 200 Robotarm and some Hal/INI issues

Ok!

Thanks

What me help:

If i jog in joint mode... what is correct?

J0 + turns it left
J0 - turns it right

J1 + lift up
J1 - lift down

J2 + lift up
J2 - lift down

J3 + turns right
J3 - turns left

J4 + lift up
J4 - lift down

J5 + turns right
J5 - turns left

I ask this because i am still wondering with my setup frlm the first ini i can move the z straight up and down x and y small dent or bend..

But on the end the inversekinematic fails.

Your idea is to bring the arm in a position where every joint is slightly + - 5 deg? To go out of the singularity?

Thank you!

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Aciera
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Administrator

31 Jul 2026 14:37 - 31 Jul 2026 14:40 #348292 by Aciera

Replied by Aciera on topic PUMA 200 Robotarm and some Hal/INI issues

Well, it depends on how you derive your DH parameters. You'll just have to go through the process I'm afraid, so please look at the linked tutorial regarding modified DH parameters, there is a graphical explanation of how the coordinate system is manipulated to build the kinematic chain from the base to the tool tip and how that will give you the correct DH-{D,A,ALPHA} values.
That process will also define the correct sense in the joint rotations by using the right hand rule with the thumb pointing in the Z-axis direction.

Your idea is to bring the arm in a position where every joint is slightly + - 5 deg? To go out of the singularity?

Not 'every' joint, but joint 4 and joint 6 must not be close to being collinear.
Again, please look at the linked explanation of wrist-singularity.

Also, I would just ignore the 'inverted Tool coordinate system' until you get things working like the 'puma560' sim.

Last edit: 31 Jul 2026 14:40 by Aciera.

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