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DIY Robot Kinematic parameters,

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13 Aug 2026 11:16 #348694 by emresensoy
DIY Robot Kinematic parameters, was created by emresensoy
Hello everyone,
I'm working on a robot. There are some errors, and I want to verify the DH parameters to be sure. What should the axis placements and DH parameters of the robot, whose drawing is below, be?

I'm using Genserkins.
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13 Aug 2026 15:21 #348703 by NWE
Replied by NWE on topic DIY Robot Kinematic parameters,
Looking at the drawing, it seems to be missing 1 degree of freedom. Is this intentional? Or am I overlooking something?

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13 Aug 2026 17:22 #348707 by Aciera
Replied by Aciera on topic DIY Robot Kinematic parameters,
As NWE has already commented, 'genserkins' assumes 6 axes (yours seems to be missing the forearm twist).
There is a kinematic in linuxcnc for a 'scorbot er3' which looks like it might be adaptable for your case:
github.com/LinuxCNC/linuxcnc/blob/master...atics/scorbot-kins.c

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14 Aug 2026 00:58 #348715 by emresensoy
Replied by emresensoy on topic DIY Robot Kinematic parameters,

NWE post=348703 userid=46071Looking at the drawing, it seems to be missing 1 degree of freedom. Is this intentional? Or am I overlooking something?
 

I forgot to mention. I'm calculating the 6th axis as a dummy axis.

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14 Aug 2026 11:42 - 14 Aug 2026 11:43 #348733 by Aciera
Replied by Aciera on topic DIY Robot Kinematic parameters,
Suggestion for modified DH parameters as used in 'genserkins'
Note that your physical robot will need to have the same pose for J{0,1,2,3,4,5}=0  and the same joint rotation sense as in the DH model drawn below:

 
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Last edit: 14 Aug 2026 11:43 by Aciera.

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  1. Configuring LinuxCNC
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  5. DIY Robot Kinematic parameters,
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