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
