help to set up the kinematics

Your questions are not stupid.

This is the kinematics docs.

www.linuxcnc.org/docview/html/motion_kinematics.html

I don't really understand it all but I do know where the docs are...

John

honey wrote:

So....For custom kinematics I should edit only the "pins" in the HAL were created by the pumakins or genserkins kinematics module? like this
setp pumakins.A2 200
setp pumakins.A3 300
setp pumakins.D3 100
setp pumakins.D4 500

Or I should edit for example pumakins.h or pumakins.c and then recompile emc2?

Sorry if my questions are so stupid

If your robot is a Puma layout, then putting the correct setting is as above should do the trick.

You will need to set up the actuator limits and scales too, of course.

You only need to recompile if you are creating your own completely custom kinematics (and genserkins should cover just about any eventuality really)

I assume you have already spotted the sample Puma configuration?

honey wrote:I have an Armdroid 1 Robot....[/quote]

That looks very much like a Puma. By setting the pumakins parameters correctly you might well be able to get the required kinematics.

Otherwise genserkins ought to work (just because it has a lot more parameters).
The drawback is that you need to figure out the Denavit-Hartenberg parameters:
en.wikipedia.org/wiki/Denavit-Hartenberg_Parameters
Has a nice video.

I think in your case it is all fairly easy.
Joint 0 has zero for all parameters.
Joint 1 has alpha = pi/2 d = offset, alpha = 0, r = 0
joint 2 has alpha = 0, theta = 0 , d=0, r = upper-arm length,
joint 3 has alpha = 0, theta = 0. d = 0, r = forearm arm length
joint 4 has alpha =0, theta = pi/2 d= wrist joint offset r = 0

But that is just a guess. You probably need to swap the signs of some angles, swap some d and r terms. that sort of thing.. I have never actually derived DH parameters or used genserkins.