Need Help in Kinamatics of Small DIY 6dof robotic arm.
27 Oct 2025 12:25 #337277
by amanker
Need Help in Kinamatics of Small DIY 6dof robotic arm. was created by amanker
I have configured and installed LinuxCNC on RPI5 and I can control individual joint of robotic arm using trivkins. Using PCA9685 as PWM servo controller. Its work good. But I am strugling to get its kinamatic working. Here is photo of my arm with measurements.
Here is photo of My robotic arm
Here are the pin values I used in genserkins
Here is photo of My robotic arm
Here are the pin values I used in genserkins
setp genserkins.A-0 0
setp genserkins.ALPHA-0 0
setp genserkins.D-0 83.5
setp genserkins.A-1 45
setp genserkins.ALPHA-1 -1.570796327
setp genserkins.D-1 0
setp genserkins.A-2 100.4
setp genserkins.ALPHA-2 0
setp genserkins.D-2 0
setp genserkins.A-3 12
setp genserkins.ALPHA-3 -1.570796327
setp genserkins.D-3 195
setp genserkins.A-4 0
setp genserkins.ALPHA-4 1.570796327
setp genserkins.D-4 0
setp genserkins.A-5 0
setp genserkins.ALPHA-5 -1.570796327
setp genserkins.D-5 58Attachments:
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27 Oct 2025 17:35 #337295
by amanker
Replied by amanker on topic Need Help in Kinamatics of Small DIY 6dof robotic arm.
I have read all documents and tried to understand DH parameters and how kinamatics works. And read the documents many times to have good grap of the subject. I tried my best to explain geometry of my DIY arm.
I am attaching photo explaining more about geometry of arm.
I hope this might better explain geometry of robotic arm.
I am attaching photo explaining more about geometry of arm.
I hope this might better explain geometry of robotic arm.
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