$ paying_gig % Meca500 DH Parameters

Hi!

I am in need of working DH params for the Meca500 robot.  I can offer $200 for a prompt solution.

My genserkins based sim folder is here with some debian installer instructions.
github.com/djsftree/linuxcnc_meca500

You'll find a VTK app there too to help you

Relevant manual pages
cdn.mecademic.com/uploads/docs/meca500-r...#subsubsection.1.1.1

3D model
cdn.mecademic.com/uploads/docs/meca500-robot-assembled-stp.zip

Please reply only if you have the time to work on this ASAP.

Many thanks and best regards!

Have a look here, plug in the dimensions of your robot and save the money:

forum.linuxcnc.org/media/kunena/attachme...eters_2020-03-31.pdf

Thanks! I've been trying that. So many interations later. I require someone who knows what they're doing.

I don't have the time to install and check your config but looking over your config I don't see anything obviously wrong with the dh parameters you came up with (although I did not check the distances of the joints).
My first suspicion would be that your graphical simulation model is not set up correctly. Make sure it reflects the rotation of Joint 1 by 90° that was needed to set up the dh-parameters as genserkins doesn't allow to set theta values. So with all joints set to zero the hand in your simulation model should be pointing to the floor. ie as in the left pose in your first picture of your initial post, joint 1 would be 0° in your config and not 90° as in the picture.

Thanks for replies.

I think I finally solved it.

HOME in TRAJ needed populating with offsets.

X+ moves Z+
Z+ moves Y+
other axes no idea just yet.

Checked in

github.com/djsftree/linuxcnc_meca500

HOME in TRAJ needed populating with offsets.

Interesting, I never quite understood how these values differ from the "HOME" offsets in the JOINT_n sections. So, are you using this to offset errors in you simulation model or on the actual robot?

I'm wondering if

[TRAJ]
HOME should maybe be renamed to KINS_OFFSETS

JOINT HOME is where the machine moves to for homing and not related to the kinematics selections.  I think.