Need a HELP on G-Code

Hi,
Currently I'm working on a 6 Axis robotic arm (I've attached some photos of my design below)& I'm having a little trouble while teaching the G-Code.
right now I'm able to record axis values to a text file,my problem is how to convert those axis values to G-Code.
Ive tried creating the G-code manually by typing those values to a example g code file,
then the robot moves in a awkward manner..
Q1) can i create the G-code from those X,Y,Z,A,B,C motor position values?How?
Q2) also how to move a imported G-code ,to the working space of the robot arm?

Guys we need Help....?????

Linuxcnc was only ever conceived of for use with cartesian machines, where axes and joints happen to be essentially the same.

People have used it for robotic arms, but it is not a shining success as the simulations show, if you can get them to work.

Before you get too much time invested in what may well be a cul-de-sac, why not use something that was intended for the job - ROS.

wiki.ros.org/arm_navigation/Tutorials

regards

Thank you for the comment Sir,
but we have gone so far to turn back,so is there any way to get the X,Y,Z Cartesian coordinates at a particular instant of the robot?

SKH wrote: but we have gone so far to turn back,so is there any way to get the X,Y,Z Cartesian coordinates at a particular instant of the robot?

What kinematics are you using?

Or are you using trivkins?

As a first step, switch to using the Joints-Axes branch of LinuxCNC where a lot of recent work has taken place to make running non-cartesian machines work better.

It is probably best to build this from source, though there may be ways to get it from the Buildbot as a binary package (buildbot.linuxcnc.org)

Incidentally, I note that you are using what look like BS1363 plugs, Are you in the UK or are your plugs just a remnant of our Empire?