Dobot Mg 400 Robot arm workspace

SANYA · 2022-05-12 07:53:24 UTC

I am trying to calculate the limit of Dobot MG 400’s workspace.
I checked the manual, but it wasn’t clear(kind of blurry image about workspace and did not content specific coordinate) about the maximum (x,z) coordinate of the robot arm.
Especially, the manual gave different dimensions from figures “dimension of MG400 robot” and “workspace of MG400 robot”(page 12 from user guide).
Does anyone have the information or know how to find it by coding (Prefer Python) or numerically (by hand calculation).
However, I can’t find the relationship between J2 and J3 angles. If anyone knows about it please let me know.
I will appreciate it.

fuzzy_l · 2022-06-29 08:12:54 UTC

Denavit-Hartenberg_parameters

search the internet:

forward solution of a kinematic;
inverse solution of a kinematic.

fuzzy_l · 2022-07-01 20:14:39 UTC

3.32 PositiveSolution

Function: PositiveSolution(J1,J2,J3,J4,J5,J6,User,Tool)
Description: Positive solution. Given the angle of each joint of the robot, the spatial position of the end of the robot is calculated. The arm direction of the robot is required to be known by SetArmOrientation

github.com

Dobot-Arm/TCP-IP-Protocol/blob/master/README-EN.md

 

# 1. Overview

CR robots now support two remote control modes: **remote I/O mode** and **remote Modbus mode**. For details about the control mode, please see Software Usage Instructions > Settings > Remote Control in *Dobot-CR-Series Robot-App-User-Guide*. 

The above two modes are mainly for the **remote control of running scripts**. As the communication based on TCP/IP has high reliability, strong practicability and high performance with low cost, many industrial automation projects have a wide demand for control robots that support TCP/IP protocol. So CR robots, designed on the basis of TCP/IP protocol, provide rich interfaces for interaction with external devices.

Controller version requirements to support TCP/IP protocol, CR series controller version should be V3.5.1.19 or above, MG400/M1Pro controller version should be V1.5.5.0 or above.



# 2. Message Format

According to the design, CR robots will open 29999 and 30003 server ports; 29999 server port (hereinafter referred to as Dashboard port) is responsible for receiving some simple instructions by sending and receiving one by one. That is, after receiving the agreed message format from the client, the Dashboard port will give feedback to the client. 30003 server port (hereinafter referred to as the real-time feedback port) feeds back the robot information. It only receives the agreed message format from the client but does not give feedback. Port 30003 is split into port 30003 and port 30004. It is expected to be implemented in controller version 3.5.2. Controller version 3.5.1 currently has only one 30003 port for real-time feedback or sending motion commands.

30004 port (hereinafter referred to as real-time feedback port) feeds robot information every 8ms. 30005 port provides robot information every 200ms. 30006 port is a configurable port for feedback robot information. By default, 30006 port provides feedback every 50ms.

For example, the ENABLEROBOT() command, ENABLEROBOT() command, and ENABLEROBOT() command represent the same command and are executed as the enabling command.

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