How to solve kinematics for robot 7dof by genserkin

Hi,

Can genserkins solve inverse kinematic for 7dof robot and how to do it. When i solve inverse kinematic for a 7dof robot, i need to add one more custom equation to bind to links

No, but yes

By default genserkins only supports 6 joints:
github.com/LinuxCNC/linuxcnc/blob/master...ics/genserkins.h#L43

But if you were to download the source-code, alter that number and recompile then you could have 7 joints.

so, do i just need modify DH parameter and #define GENSER_MAX_JOINTS = 7, i will give it a try?

Maybe.

When you say "7 DOF" I assume you mean a robot with 7 joints? If that is the case then yes, that ought to work.

Without reading www.ausmt.org/index.php/AUSMT/article/view/172/152 in any great detail I am beginning to suspect that genserkins might not be able to solve a robot with redundant joints.

But, if not, then you would need to compile your own kinematics anyway, so might as well start with recompiling genserkiins to see what happens.

after reading genserkins source-code and some documents about 7DOF redundant manipulator, i think i have to do much work to use genserkins for 7dof, it's not only simple like edit num_joints and DH parameter