PUMA geometry

Hello, have you made any progress in your research? I also need to study the 6-axis manipulator. Can you provide me with some research direction?

thanks

Hi. Unfortunately not, I have stopped due to the winter holidays on this hemisphere, but I have to restart my investigation this week.

I think I'll go back to the Puma investigation, because IT HAS 6 axis (or that's what it looks like), and everything is in place, so I think that's the long hanging fruit to make a 6-axis robot.

Please let me know if you make some progress, I will post my progress here as well.

Cheers.

Yes. If I make progress, I'll post it here, too.

Does any one make any progress?

Unfortunately not. But this weekend I have to sit down with a paper and do some reverse engineering .

I have a spreadsheet with positions for all the joints and tooltip , so I want to calculate the direct kinematics by hand and see if I can find the values somewhere.

I'm very frustrated, because the pumakins code looks quite difficult to reverse engineer.

Cheers

Hi Andy,

I am using PUMA sims. In fact I have added a few debug lines (aka printf) into thecode just to understand how the Denavit-Hartenberg coded there was affecting joints and tool tip.

The question I am trying to answer here is: How can I configure a different geometry for the PUMA?

I don't know if PUMA and PUMA560 have the same geometry and degrees of freedom. But I need to calculate positions for a PUMA with 6 degrees of freedom, because we have an old robot arm with 6 degrees of freedom and it's similar to a PUMA that we'd like to bring back to life.

If I understand the HAL correctly this part of the PUMA HAL seems to be responsible of setting the geometry, but I don't really understand what are those parameters, and I couldn't find any documentation about how these parameters affect the geometry.

I couldn't find any documentation in LInuxCNC about how to set all these parameters for a PUMA to fill out the Denavit-Hartenberg parameters (length of the links, offsets, angles, etc.).

So my only hope is (using the values I got from using printf to see if I can reverse engineering those values....

(unfortunately, I am not that good at math, and I have a lot of things to do at work, so I can't focus into this project a lot)

Cheers

I don't know if PUMA and PUMA560 have the same geometry and degrees of freedom. But I need to calculate positions for a PUMA with 6 degrees of freedom, because we have an old robot arm with 6 degrees of freedom and it's similar to a PUMA that we'd like to bring back to life.

If i'm not wrong, pumakin.c is using "classic DH parameter" but genserkins.c is using "modified DH parameter". They are difference type.

If I understand the HAL correctly this part of the PUMA HAL seems to be responsible of setting the geometry, but I don't really understand what are those parameters, and I couldn't find any documentation about how these parameters affect the geometry.

I couldn't find any documentation in LInuxCNC about how to set all these parameters for a PUMA to fill out the Denavit-Hartenberg parameters (length of the links, offsets, angles, etc.).

Linuxcnc doesnt have document for arm robot but google has a lot of them. in order to use genserkins i think u just need to understand what "modified DH parameter" is.

Agreed.

I already have a robot arm, and already have a robot geometry, so in my case I would like to configure LinuxCNC to calculate the joint movements for that particular arm.

I will read what's a "modified DH parameter" but in my case I am just trying to make LinuxCNC to make this arm.

So I was expecting to say "my robot have these DH parameters", but I don't know how to add these parameters to LinuxCNC, and that's what I was asking.

Thanks!
Cheers