thank for answers, they are really helpful Vào 03:20:16 UTC+7 Thứ Bảy, ngày 26 tháng 8 năm 2017, Charles Steinkuehler đã viết: > > 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 > > what should i do after home all joints, do i need to change somethings in .hal file? I dont have a real machine yet, just beaglebone black but i want to simulator them first
> 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 > > yes it worked correct after i had modified DH parameter > 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 > cha...@steinkuehler.net <javascript:> > -- 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 machinekit+unsubscr...@googlegroups.com. Visit this group at https://groups.google.com/group/machinekit. For more options, visit https://groups.google.com/d/optout.
