PUMA geometry

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

If you look at the Puma560 config files does that help? Presumable there are numbers there that match the sim Puma.

github.com/LinuxCNC/linuxcnc/blob/master...uma560_sim_6.hal#L37

Hi
lets say it that way
the PUMAKINS is a full defind Construction you need to follow you only got the offsets to be different
pumakins.A2
pumakins.A3
pumakins.D3
pumakins.D4
#####Describe the geometry of the robot#######

in genserkins you got per joint 3 numbers to be set this gives you a variation of the joints to be placed
genserkins.A−N
genserkins.ALPHA−N
genserkins.D−N
de.wikipedia.org/wiki/Denavit-Hartenberg-Transformation
Transformation A
Translatation Alpha
Rotation D