Robotic module Question

[tim702]

Hi all
i have some question about the robotic module.
i already have a DH table for my robto arm.
Now i am trying to input this DH parameters into Labview.
I saw the example of inverse kinematis for puma 560.
Also,I find that the "create PUMA 560 Modified.Vi" can let user to input their only DH parameters.
But
What is the Twist in Labview? angle about previous Z, from old X to new X.
What is the Length in Labview? is it represent thelength of the common normal (r).
What is the Offset in Labview?offset along previousZ to the common normal.
What is the Joint Corrdinate Offseti? in Labview?offset along previousZ to the common normal.
When i modify the DH paramters into "set kinematic parameter.vi",there show a error about -310040.
Anyone can indicate which part i get worg?
Thank you so much
Tim

[DollaBrillz]

Hi Tim,

Thanks for your question. Are you attempting to modify the "create PUMA 560 Modified.vi" that you mentioned using your DH parameters, or are you modifying the "Test_PUM_560_tim.vi" example VI that you attached? The "Inverse Kinematics for PUMA 560 org Test.vi calls the "Test_PUM_560_tim.vi" so if you are using this example as a model, you would have to input your parameters (Length, Twist, Offset which you mentioned) into that VI.

The particular error you are getting (-310040) corresponds to the following error message: "LabVIEW cannot converge to a solution in the number of steps you specified. Make sure that the serial arm can achieve the transform you desire." This could be due to the fact that the current constraints are over defined. 

Here is a link to the Robotic Help Manual:

http://zone.ni.com/reference/en-XX/help/372983D-01/

If you would like to give me some more information about your application, I would be happy to help further. Which version of LabVIEW are you using, and which version of the Robotics Module are you working with?

Good luck!