On Wed, 6 Mar 2019 at 17:56, yomin estiven jaramillo munera <yejm...@gmail.com> wrote: > > thanks chris, could you tell me how i can enter my D-H parameters and n > which file (my .hal, genserkins, or puma > kins)
You set them in the HAL file, as shown below: > > > setp genserkins.A-0 0 > > > setp genserkins.A-1 0 > > > setp genserkins.A-2 7.47 > > > setp genserkins.A-3 0 > > > setp genserkins.A-4 0 > > > setp genserkins.A-5 0 > > > > > > setp genserkins.ALPHA-0 0 > > > setp genserkins.ALPHA-1 1.570796326 > > > setp genserkins.ALPHA-2 0 > > > setp genserkins.ALPHA-3 1.570796326 > > > setp genserkins.ALPHA-4 -1.570796326 > > > setp genserkins.ALPHA-5 1.570796326 > > > > > > setp genserkins.D-0 9.38 > > > setp genserkins.D-1 0 > > > setp genserkins.D-2 0 > > > setp genserkins.D-3 7.47 > > > setp genserkins.D-4 0 > > > setp genserkins.D-5 0.8 Note that Genserkins uses "modified" DH parameters. http://linuxcnc.org/docs/devel/html/man/man9/genserkins.9.html https://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters#Modified_DH_parameters -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1916 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
