On 8/24/2017 9:28 PM, thangle wrote: > I have some problems when i try configuring custom arm robot 6DOF. hope > someone can help me resolve these. > > 1st. i run PUMA560 sim but i cant open "world mode" from AXIS GUI. > everytime i turn it on by "Alt+M" it return joint mode. if anyway to use > "world mode" in manual control
You have to home all the joints and get the machine to a known position before you can switch from joint mode to world mode. > 2nd: i used genserkins to configure a new custom arm robot and compare to > the one i configure in matlab. They are difference about coordinate, look > like the origin coordinate was rotated. i think the one from genserkins is > incorrect Note that the genserkins module uses "modified" DH parameters and likely does not match your matlab simulation: https://github.com/machinekit/machinekit/blob/master/src/emc/kinematics/genserkins.c#L20-L25 https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Modified_DH_parameters -- Charles Steinkuehler [email protected] -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
