On 12/13/2018 3:36 PM, andy pugh wrote: > On Thu, 13 Dec 2018 at 20:58, yomin estiven jaramillo munera > <yejm...@gmail.com> wrote: > >> is genserkins suitable for what i wannna do? > > It should be, it is meant to work for any serial robot. > >> where can i find information to set genserkins? > > This might be all that there is.. > http://linuxcnc.org/docs/html/man/man9/kins.9.html > > You might be able to glean more by looking at the source code: > https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/kinematics/genserkins.c
I had a hard time getting genserkins working, but it is usable. As mentioned in the man page above, the code follows the DH conventions of John J Craig in "Introduction to Robotics: Mechanics and Control" (you can find pdf copies online if you search, which I found to be very helpful). What the man page _doesn't_ say is that this convention is referred to as "Modified DH Parameters" by most of the rest of the world: https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Modified_DH_parameters If you try to use "standard" DH parameters with genserkins, Bad Things will happen. :) -- Charles Steinkuehler char...@steinkuehler.net
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