PUMA geometry

You might ask this question on the mailing list, a different group read that.

linuxcnc.org/community/

JT

felixcnc wrote: where is the geometry defined?,

It would be great if Vismach followed Genserkins, but at the moment Vismach and Genserkins move the robot independently. Vismach does not use kinematics, as such.

Gensekins defines the robot geometry using Modified Denavit Hartenberg parameters. That defines the joint lengths and the orientations of the joints.

There have been some discusion on the forum in the past that may help you

forum.linuxcnc.org/38-general-linuxcnc-q...nto-linuxcnc?start=0

forum.linuxcnc.org/10-advanced-configura...config-picker#109454

A group of us got an arm working some time ago - it is a 6 axis arm but I believe only 5 are referenced in the file here is the code that was used if you want to use it as a sample/reference to work from


github.com/deanforbes/Staubli_RX60L/tree/master/Linuxcnc/RL

github.com/deanforbes/Staubli_RX60L/tree...avit_hartenberg/Ross

Thank you very much indeed. I think this is EXACTLY what I was looking for, I will have to read this carefully, because at first sight it looks VERY interesting.

The PDF is VERY clear to determine how the DH parameters are set, now I have to read all the configurations (hal + ini).

Thanks again, I really appreciate this, because I think this is an incredibly good foundation stone for all the work I have to do with this.

THANKS!

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.