DIY Robot Kinematic parameters,

Hello everyone,
I'm working on a robot. There are some errors, and I want to verify the DH parameters to be sure. What should the axis placements and DH parameters of the robot, whose drawing is below, be?

I'm using Genserkins.

Looking at the drawing, it seems to be missing 1 degree of freedom. Is this intentional? Or am I overlooking something?

As NWE has already commented, 'genserkins' assumes 6 axes (yours seems to be missing the forearm twist).
There is a kinematic in linuxcnc for a 'scorbot er3' which looks like it might be adaptable for your case:
github.com/LinuxCNC/linuxcnc/blob/master...atics/scorbot-kins.c

NWE post=348703 userid=46071Looking at the drawing, it seems to be missing 1 degree of freedom. Is this intentional? Or am I overlooking something?
 

I forgot to mention. I'm calculating the 6th axis as a dummy axis.

Suggestion for modified DH parameters as used in 'genserkins'
Note that your physical robot will need to have the same pose for J{0,1,2,3,4,5}=0  and the same joint rotation sense as in the DH model drawn below:

 

Is the DH parameters below right?
 
 

Is the DH parameters below right?

Those won't work. First indication is the simple fact that you are mixing distances and angles. Also note that genserkins uses 'modified DH' parameters not the standard 'DH' parameters.

I already posted the parameters for your robot that should work for your robot, why don't you start by trying those?

First of all, thank you very much for your interest and support. The diagram you sent already formed my starting point. However, since there is a 90-degree difference between the slider joint and the next joint, I wanted to redo the calculations.

Also, since Genserkins only supports rotary axes, I will not be using it. I will recreate the kinematics according to my system.

I made a simulation html with claude