Howdy everyone! I got a pair of very old Denso 6 axis robots for basically scrap price and am trying to get them working with the AR4 software (I have had them running with GrblGru but want to use the AR4 software so I can use them with RoboDK), but am hitting a snag with the DH parameters as the Arm base is offset from the rotation axis of the base. I used RobotJS to get my DH values but when I put them into the AR4 software it refuses to move and says "position out of reach" even after homing or using the "Force Calibration to home" button. I've gone through Chris' Kine,atics video and believe I have it right but am not getting anything despite several combinations.
Any ideas?
https://anninrobotics.com/wp-content/uploads/2025/08/DH-parameters-for-a-offset-arm.avif
https://anninrobotics.com/wp-content/uploads/2025/08/DH-parameters-for-a-offset-arm_2.avif
https://anninrobotics.com/wp-content/uploads/2025/08/DH-parameters-for-a-offset-arm_3.avif
Output from RobotJS: Theta Alpha a d 0 0 0 0
0 0 44 0
0 -90 0 0
0 90 0 49
90 90 0 12.5
[
{
"frameType": "rotary",
"r1": 0,
"r2": 0,
"r3": 0,
"x": 0,
"y": 0,
"z": 0,
"moveFrame": false
},
{
"frameType": "rotary",
"r1": 0,
"r2": -90,
"r3": 0,
"x": 14.6,
"y": 0,
"z": 0,
"moveFrame": false
},
{
"frameType": "rotary",
"r1": 0,
"r2": 0,
"r3": 0,
"x": 44,
"y": 0,
"z": 0,
"moveFrame": false
},
{
"frameType": "rotary",
"r1": -90,
"r2": 0,
"r3": 0,
"x": 0,
"y": 0,
"z": 0,
"moveFrame": false
},
{
"frameType": "rotary",
"r1": 90,
"r2": 0,
"r3": 0,
"x": 0,
"y": 0,
"z": 49,
"moveFrame": false
},
{
"frameType": "rotary",
"r1": 90,
"r2": -90,
"r3": 0,
"x": 0,
"y": 0,
"z": 0,
"moveFrame": false
}
]
