Editing theta offset with genserkins?

Hi

I thought I would make a new (much shorter) post on genserkins and DH parameters rather than add to the old one!

Is there a way to add theta (as opposed to just the alpha, d and a parameters) offsets in genserkins? I have tracked my problem down to needing a 90 degree offset at my first joint in order to make the home locations correct.

Cheers

Does setting the home position to 90 have the same effect?

Hi Andy

In the end I went for a different home position as the kinematics seemed to cope much better with it. I am not sure of the mechanics of how genserkins treats the home position offsets. That said I did come across a different version of genserkins called DHKINS which allowed for inputting theta. I never got around to using it due to the above alternative plan.

i guess you mention about rotating coordinate system,in this case i think you should write some new functions in genserkins.

Hello

I also need J1 THETA offset. How did you implement the dhkins.c?
I downloaded the C and H files from here
alvarestech.com/temp/RoboAseaIRB6S2-Fiat...C/halitosis/dhkins.c
I used
But what did you use in the ini file. I replaced the genserkins with dhkins but LinuxCNC does not load..
The genserkins is working perfectly in the simulation, but the pose of the robot is not practical. I would like the J1 to be upright (-90degrees). The home offset does not work

Thank you