DIY Robot Kinematic parameters,

Hello everyone,
I'm working on a robot. There are some errors, and I want to verify the DH parameters to be sure. What should the axis placements and DH parameters of the robot, whose drawing is below, be?

I'm using Genserkins.

Looking at the drawing, it seems to be missing 1 degree of freedom. Is this intentional? Or am I overlooking something?

As NWE has already commented, 'genserkins' assumes 6 axes (yours seems to be missing the forearm twist).
There is a kinematic in linuxcnc for a 'scorbot er3' which looks like it might be adaptable for your case:
github.com/LinuxCNC/linuxcnc/blob/master...atics/scorbot-kins.c

NWE post=348703 userid=46071Looking at the drawing, it seems to be missing 1 degree of freedom. Is this intentional? Or am I overlooking something?
 

I forgot to mention. I'm calculating the 6th axis as a dummy axis.

Suggestion for modified DH parameters as used in 'genserkins'
Note that your physical robot will need to have the same pose for J{0,1,2,3,4,5}=0  and the same joint rotation sense as in the DH model drawn below:

 

Is the DH parameters below right?