help to set up the kinematics

I would try to find a set of correct parameters or an example somewhere, just to prove that everything else is OK.
Then honey, you can modify it, step by step.
Just make sure motors are not powered for this test.

Gerd

andypugh wrote:
Are you sure that you have the D-H parameters correct for your robot?[/quote]

I think yes. My robot is very similar to Puma, i have changed A and D with the value of my robot. I have seen many documents about this.
I think that the problem is genserkins because i have made an experiment. I have used pumakins module (with puma parameters). The robot works in world mode (not so well really, there are following error yet but at least it moves! )

So, I could use pumakins for kinematics but i don't understand why there are this default values of A e D in pumakins.h:

DEFAULT_PUMA560_A2 300.0
DEFAULT_PUMA560_A3 50.0
DEFAULT_PUMA560_D3 70.0
DEFAULT_PUMA560_D4 400.0

are strange values for me. The A and D values of puma in genserkins are clear for me but not these!! why these are different?

Kinda late, but did you try using DEG or RAD for alpha values?
As the type of value could play a role.
(I'm new here)

edit: I suppose you did and I didn't research enough yet