How To add robot arm model into linuxCNC

Please any one can tell me how to add a robot arm model in to linuxCNC workspace and how to simulate it and how to control it using linuxcnc,is there any robot arm model available in anywhere in Internet with working code??

You already have one on your LinuxCNC machine.

Open the config-picker and go to:
sim->axis->vismach->puma

Screenshot (Puma560)

thank you so much,but my arm is a 6axis one,i think this is a 4 or 5 axis one,how can i get a code for this robot,??

It's a 6-axis. There are joints 0 to 5.

There are other robot models in the same section of the config picker.

Once you open the config from the config picker all the files will be copied into your LinuxCNC configs folder (I think).

Hi AnjaBird.AKB

If you can get the CAD models of your robot and work out (or find) the denavit hartenberg parameters, then it is possible to get a 6dof arm running in the simulator. Most robot manufacturers seem to have links to CAD for their current robots. You can use the genserkins kinematics module to compute the inverse kinematics thereafter. You may or may not need to recompile the genserkins modules after editing the parameters, but Andy said its possible to just manage this from within the HAL file. I need to experiment with that!

If you go and look in the advanced configuration sub-forum, you will see some of the work I have been doing. Bearing in mind I am in the process of learning too, feel free to ask any questions you might have.

Things to bear in mind:

1. Check out some basic videos and guides online to understand some of the linuxcnc basics, such as HAL files, ini files and vismach gui files.
2. Learning Denavit Hartenberg parameters can be difficult, but if you already know how to do this that will be easier. I can point you to some online books if you need any literature.
3. Use the PUMA560 files as a basis for your bot, a lot of work is already done for you.

It is quite a time consuming process and a lot of trial and error, so if you just want to play with a bot in sim then I would advise to just experiment with the PUMA as Andy mentioned.

The Vismach model will work without the DH parameters, as it just accepts the joint angles.
Motion in cartesian space will not be straight lines if the parameters are wrong, which is what makes it a good test environment.