PUMA 200 Robotarm and some Hal/INI issues

here the zipped config.. hope it help us... thank you for the help and time and headache

i made a vismach model.

Looks like a lot of AI generated stuff so I'm not going to bother with it. Frankly, if you need to rely on AI to build the vismach model then you are most likely better off without it because working with an incorrectly constructed vismach model is only going to make things a LOT more difficult for you.

Generally I think you are trying to get around the tedious legwork of wrapping your head around the basic concepts of how those modified DH parameters work so my advise would be to get out the old paper and pencil and start from the beginning.

Yes i use free ai to generate the single moduls of the vismach model. Then i bring all together. Thats why the model is in 90 angles..

Do you find wrong stuff in the ini or hal???

Thanks

Ah i think i understand what you mean.

The model stays in a different position as the seted dh paramters ? Because i rotate the hand axis ( all 3) and the main tower.

Dh parameters= real positon/ angles
Vismach model = not build by dh paramters.

Or what do you mean?

The dh parameters i set are the parameters i get from right hand ruled cs. Possible i do it wrong. Because .. if i home over my sharpie marks the arm is in this position:

Joint 1 0 ( about 140 +- to the mechanical limits)
Joint 2 0 (90 deg to tower.. means parallel to base)
Joint 3 0 ( 90 deg to joint 2... means parallel to tower)
Joint 4 0 ( mid position +- 320)
Joint 5 0 ( mid position +-125)up and down same direction as joint 2 and 3
Joint 6 0 (mid position +- 280) left right same as joint 4

The values of A and D i get from the drawing
The Alphas i get from right hand rule cs.. and the signs for the A and D values i get with the alpha stuff.

And the angles after homing i checked with a digital pritractor... and the scales i checked with 90 deg moves looking to the digital protractor.

Dh parameters= real positon/ angles
Vismach model = not build by dh paramters.

Or what do you mean?

Yes.

But the real problem is that you are getting ahead of yourself. There is ZERO point in hooking up your robot to linuxcnc before you have a clear understanding of what those modified DH parameters actually mean.

Step 1: Take the drawings of your puma, draw a kinematic model and derive a set of DH parameters.

Step 2: Take a six-axis SIM config (without hooking up ANY hardware) that uses genserkins and verify that the World coordinates calculated for simple poses are what you expect.

There is absolutely no point in either hooking up your robot or building a vismach model before Step 2 has been completed successfully.

Here is the corrected suggestion on how to build the modified DH parameter model. The vertical offset (0.75") between J1 and J2 make things a bit more complex then in the 'puma560' sim config.
 
Some explanation on how modified DH parameters work:

- Each parameter set describes the coordinate transformation from one coordinate frame (F0..F6) to the next.
- Each transformation consists of the same sequence (X,Z directions here follow the current coordinate frame!)
      1. Translation along Xn so that the origin of the coordinate frame lies on the rotational axis of the next joint (Jn+1) 
      2. Rotation around Xn   so that Zn is collinear with the rotational axis of the current joint Jn . Note that the direction of Zn and the rotational direction of the physical joint MUST be identical! 
      3. Translation along Zn so that the Xn direction intersects with the rotational axis of the next joint (Jn).
- At the end of each transformation sequence we have created a new coordinate frame Fn+1.
 
Note that with these rules it is not possible to build a transformation from F2 to F3 without rotating J1 by angle theta1 so that the rotational axis of the next joint (J2) intersects with the X vector of F2. This then requires rotating J2 the same amount but in the opposite direction so the lower arm is vertical again. This needs to be corrected in the configuration by either setting a corresponding HOME_OFFSET value for JOINT_1 and JOINT_2 in the INI file or setting the work_offsets accordingly when in JOINT mode (these must then be deactivated when switching to WORLD mode)