5 DOF Robotic Arm

elisa wrote:

Okay, I try using Vismach model and I will report what happens.

I don't use LinuxCNC kinematics beacuse I don't know how to compute it there, where can I find some information?

Take a look at the sample config sim-axis-vismach-puma
That is a Vismach model (like yours) set up with kinematics inside linuxcnc.
"puma" uses a single-purpose kineamatics - "pumakins"
"puma560" uses the general-purpose "genserkins".
You could probably use either.

Also, the docs:
linuxcnc.org/docs/2.8/html/motion/kinematics.html
linuxcnc.org/docs/2.8/html/motion/dh-parameters.html
And possibly:
linuxcnc.org/docs/2.8/html/motion/5-axis-kinematics.html

I don't understand, when I asked you

Are you aware that you need a kinematic file to translate your joint position to cartesian coordinates?

your answer was:

Yes, in fact when I run the g-code, the robot moves correctly.

Now you write this:

I don't use LinuxCNC kinematics beacuse I don't know how to compute it there, where can I find some information?