Hi everyone,

I'm currently working on a school project that involves moving a mini robot arm. My lecturer introduced me to Annin Robotics and recommended that I use his resources to help me complete the project. I've changed the DH parameters and motor step calculations to accommodate the mini robot arm that I'm working on. I'm referencing off the AR4-MK3 using the ver 4.4 control software and teensy sketch file. I tried running the robot arm using the control software, and I can jog the arm using the joint mode and run programs using joint angles (Move R). The issue is that I can't jog or run programs using the XYZ axes, and the arm moves in weird directions when I do so. Note that I do not have limit switches nor encoders on this robot. I'm not sure if my DH parameters are wrong or it's because of something else. I would really appreciate it if someone could help me verify my DH parameters and drop me some tips on how to get the cartesian axes working. Attached below are my robot's dimensions as well as it's DH parameters, and a recording of the movements that it does when I jog it in cartesian.