help to set up the kinematics

Ok, I have used genserkins module and I set it with the parameters of my robot. But i have a problem.... my axis x not corresponds to joint 0 as well as axis y to joint 1 and so on...!! Where and how i can make the right corrispondence? i must create some lines in hal for resolve this problem?

What do you mean by "right correspondence"? Does the robot move at all, what's wrong? Describe what you have.

Ok I try to explain to me better or maybe my problem doesn't exist. I am not so expert! However for example the JOINT 0 would corrispond to the base of robot. The axis that moves the base in my case is axis A. So this would be a problem if i used genserkins module? in this module JOINT 0 is assigned to axis X?
I ask this because my robot don't move if i write a MDI command line.

Sorry if i make confusion....i am new user of this software!

My robot work correctly when i use the manual mode (so the forward kinematic i suppose!) but it doesn't work when i use the auto o mdi command (inverse kinematic?). So i thought that this problem could be due to Axis/joint corrispondence or something wrong in hal section.

axis - joint relation is defined in kinematics, not in hal.
But sometimes there is a confusion about axis and joints.
Also emc is not consistent, because what is called axis in ini, its in reality joint.
Only for a trivial kinematic, its equal, and for this there is fixed relation in trivkin (joint 0 = axis x, joint 1 = axis y etc).

In hal the joints are connected to a real motor driver.

When you say "My robot work correctly when i use the manual mode", do you use joint or world mode ?

Gerd

honey wrote:

Ok, I have used genserkins module and I set it with the parameters of my robot. But i have a problem.... my axis x not corresponds to joint 0 as well as axis y to joint 1 and so on...!! Where and how i can make the right corrispondence? i must create some lines in hal for resolve this problem?

I am not sure what you mean here.
In "Joint mode" you should be able to move the individual joints as "Joint 1", "Joint 2" etc.
In "World Mode" the end of the arm should move in cartesian X-Y-Z (and possibly A B C) space, with all the joints moving together to achieve this.
You swap between Joint mode and World mode using the "$" key.

Your HAL file should set the correct Denavit-Hartenberg parameters for your particular robot, but that has nothing to do with allocating joints to axes, that isn't what Kinematics does. Kinematics trtansforms motion in a single axis, or simultaneous motion of several axes into the coordinate motion of all the joints that need to move. (Or, in joint-mode jogging, it calculates the current position of the end-effector in Cartesian X-Y-Z space from the joint positions.