This simulation uses 'genserkins' kinematics and the 'modified' DH-parameters used by that particular kinematic model. 

A tutorial on how the required modified-DH-parameters were derived for this robot is available in the linuxcnc documentation.


melfa-switchkins usage:

1) startup (after homing) is in
'genserkins' mode configured like
melfa-switchkins.ini as an mm-based machine
with 6 revolute joints.

2) pyvcp buttons are provided to switch
between 'genserkins' and 'identity'
kinematics.  The buttons issue remapped
commands M428,M429.  These commands
select the kinematics with G12.1, which
synchronizes interpreter and motion
itself.

3) when set for 'identity' kins, default
assignments are:

   x : joint0
   y : joint1
   z : joint2
   a : joint3
   b : joint4
   c : joint5
so the gcode commands:
   'g0x10' moves joint0
   'g0c10' moves joint5

4) when set for 'genserkins' the axis letters
represent the cartesian coordinates.
