PUMA 200 Robotarm and some Hal/INI issues

hi

i made a vismach model... i update it to the home position i want.. its 1:1 after homing th real arm.

 

i dont know if it helps but if i home in this position. x0y0z0a0.5b0c0 in Identity/Joint Mode

 

and in the world mode

 

but if i jog in world mode  x + - i see the real failure on the vismach model..

 

same in Y

 

i dont know if this explain some wrong dh parameters?! but in some positions the A axis.. joint 4 on the arm starts flipping

thanks

i read this yes but i dont think about the a to c axis.. joint 4 to joint 6 issue...

i homed all again to x0y0z0a0b0c0  and then jog ti a1 and b0.5 still flipping...... 




i checked again that all the movements in joint mode are correct ( encoder and motor to degree translation ) the scales are all correct.


an again i wonder that the tcp is upside down..

 

I test arround... i will send you later.

I think the singularity is a issue... and dh parameters... possible the alohas are not correct... upside down tcp... i dont know

here the zipped config.. hope it help us... thank you for the help and time and headache

Yes i use free ai to generate the single moduls of the vismach model. Then i bring all together. Thats why the model is in 90 angles..

Do you find wrong stuff in the ini or hal???

Thanks

Ah i think i understand what you mean.

The model stays in a different position as the seted dh paramters ? Because i rotate the hand axis ( all 3) and the main tower.

Dh parameters= real positon/ angles
Vismach model = not build by dh paramters.

Or what do you mean?

The dh parameters i set are the parameters i get from right hand ruled cs. Possible i do it wrong. Because .. if i home over my sharpie marks the arm is in this position:

Joint 1 0 ( about 140 +- to the mechanical limits)
Joint 2 0 (90 deg to tower.. means parallel to base)
Joint 3 0 ( 90 deg to joint 2... means parallel to tower)
Joint 4 0 ( mid position +- 320)
Joint 5 0 ( mid position +-125)up and down same direction as joint 2 and 3
Joint 6 0 (mid position +- 280) left right same as joint 4

The values of A and D i get from the drawing
The Alphas i get from right hand rule cs.. and the signs for the A and D values i get with the alpha stuff.

And the angles after homing i checked with a digital pritractor... and the scales i checked with 90 deg moves looking to the digital protractor.