Puma560 - Geometry and building other 6 axis robots

What would be really useful would be a diagram of a robot arm with the actual HAL pins as annotations for each measurement.

diagram of a robot arm with the actual HAL pins as annotations for each measurement.

Do you mean how the DH-parameters are derived from the diagram of a specific robot arm?
If so I could provide that for mine.

Aciera wrote:

diagram of a robot arm with the actual HAL pins as annotations for each measurement.

Do you mean how the DH-parameters are derived from the diagram of a specific robot arm?
If so I could provide that for mine.

That would be useful. I have never managed to figure out how the HAL pin names correspond to the references I have seen.

I uploaded a PDF document on my other thread on how I derived the modified DH-parameters and how to set the relevant genserkins HAL pins.

forum.linuxcnc.org/10-advanced-configura...th-simulation#158467

I hope its useful

How do you feel about that being added to the LinuxCNC docs?

absolutely, that would be an honour.

I just noticed that the explanation of parameter A-5 is missing. I will fix that.

@andy: The PDF is fixed and ready for you.