PUMA geometry

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

LinuxCNC has two PUMA sims. One uses pumakins and one uses genserkins. (puma560)

Which one are you using, and have you considered the other?

Hi Andy,

I am using PUMA sims. In fact I have added a few debug lines (aka printf) into the code 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.