PUMA 200 Robotarm and some Hal/INI issues

hitchhiker
Offline
Elite Member

31 Jul 2026 13:48 #348287 by hitchhiker

Replied by hitchhiker on topic PUMA 200 Robotarm and some Hal/INI issues

Ok!

Thanks

What me help:

If i jog in joint mode... what is correct?

J0 + turns it left
J0 - turns it right

J1 + lift up
J1 - lift down

J2 + lift up
J2 - lift down

J3 + turns right
J3 - turns left

J4 + lift up
J4 - lift down

J5 + turns right
J5 - turns left

I ask this because i am still wondering with my setup frlm the first ini i can move the z straight up and down x and y small dent or bend..

But on the end the inversekinematic fails.

Your idea is to bring the arm in a position where every joint is slightly + - 5 deg? To go out of the singularity?

Thank you!

Please Log in or Create an account to join the conversation.

Aciera
Offline
Administrator

31 Jul 2026 14:37 - 31 Jul 2026 14:40 #348292 by Aciera

Replied by Aciera on topic PUMA 200 Robotarm and some Hal/INI issues

Well, it depends on how you derive your DH parameters. You'll just have to go through the process I'm afraid, so please look at the linked tutorial regarding modified DH parameters, there is a graphical explanation of how the coordinate system is manipulated to build the kinematic chain from the base to the tool tip and how that will give you the correct DH-{D,A,ALPHA} values.
That process will also define the correct sense in the joint rotations by using the right hand rule with the thumb pointing in the Z-axis direction.

Your idea is to bring the arm in a position where every joint is slightly + - 5 deg? To go out of the singularity?

Not 'every' joint, but joint 4 and joint 6 must not be close to being collinear.
Again, please look at the linked explanation of wrist-singularity.

Also, I would just ignore the 'inverted Tool coordinate system' until you get things working like the 'puma560' sim.

Last edit: 31 Jul 2026 14:40 by Aciera.

Please Log in or Create an account to join the conversation.

hitchhiker
Offline
Elite Member

31 Jul 2026 19:10 #348304 by hitchhiker

Replied by hitchhiker on topic PUMA 200 Robotarm and some Hal/INI issues

youtube.com/shorts/PnO5MxeK1Xg?is=1G0Dy59B0bhhUQdd

I have a small success...old ini... home and homeoffset to zero.. jog to marked position (edding/sharpie on the joint..).. then homed to index.. bring all in a non singular position... start g code...

I think this was a step in the right direction... but z stays not on z on the table.. but on the linuxcnc dro

Heeeelp

thanks

Please Log in or Create an account to join the conversation.

NWE
Away
Elite Member

31 Jul 2026 20:21 #348307 by NWE

Replied by NWE on topic PUMA 200 Robotarm and some Hal/INI issues

hitchhiker wrote:
I have a small success...old ini... home and homeoffset to zero.. jog to marked position (edding/sharpie on the joint..).. then homed to index.. bring all in a non singular position... start g code...

I think this was a step in the right direction... but z stays not on z on the table.. but on the linuxcnc dro

Are you saying Z does not operate correctly on the machine although it displays correctly in the DRO? If so then I would first suspect the problem would come from having some joint not zeroed at the exact true zero point. I think a slightly incorrect DH parameter would create the same symptom.

Please Log in or Create an account to join the conversation.

hitchhiker
Offline
Elite Member

31 Jul 2026 20:27 #348308 by hitchhiker

Replied by hitchhiker on topic PUMA 200 Robotarm and some Hal/INI issues

I only had zero x y z in genser mode... not correct?!

I know that when i rotate A axis the B axis make moves.. because the mechanical stuff inside the hand goes over small gears.. but this should not be the problem or???

Thanks

Please Log in or Create an account to join the conversation.

NWE
Away
Elite Member

31 Jul 2026 20:41 #348309 by NWE

Replied by NWE on topic PUMA 200 Robotarm and some Hal/INI issues

hitchhiker wrote:

I only had zero x y z in genser mode... not correct?!

First at powerup you have to zero every joint, did you do this?

disclaimer:
I have not yet had opportunity to run a LinuxCNC robot, except for playing with the sim. I have spent many hours programming/repairing Fanuc and ABB robots. Some day when I have enough projects completed to make more space in my shop I want to buy an old robot and put LinuxCNC on it.

Please Log in or Create an account to join the conversation.

Time to create page: 0.108 seconds