DobotMagician

An interface to the Dobot Magician robotic arm. This package uses LibSerialPort.jl to interface directly with the Dobot and so only the USB serial port driver is required. (If Dobot Studio is installed, the driver is automatically installed.)

The interface follows the Dobot communication protocol v1.1.5.

Usage

There are two interfaces implemented for the Dobot: a direct, low-level interface and a simpler, high-level interface. The direct interface simply calls Dobot functions directly whereas the high-level interface simplifies some of the function calls but only exposes a small amount of the functionality.

Direct interface

To use the direct interface, import the package and the Direct submodule. All the functions specified in the Dobot communication protocol will be available. A list of all the available functions can be obtained using names(DobotMagician.Direct).

Each of the available functions provides a short description and details of the payload. To see the details simply call show on the function (or just type the function name into the REPL). Due to the way these functions are implemented, the docstrings are not used.

Note: not all functions have been tested.

using DobotMagician
using DobotMagician.Direct

# Connect to the Dobot (automatically detect the port)
dobot = DobotMagician.Magician()

# Get the Dobot version
ver = get_device_version(dobot)

# Move the arm (mode 2=MOVL_XYZ: linear motion, cartesian end point)
set_ptp_cmd(dobot, (2, (200, 0, 0, 0)))
sleep(2)

# Turn on the suction cup
set_end_effector_suction_cup(dobot, (1, 1))

# Move the arm (mode 7=MOVL_INC: relative linear motion, cartesian end point)
# Queue the commands so they happen sequentially
set_ptp_cmd(dobot, (7, (20, 0, 0, 0)); queue=true)
set_ptp_cmd(dobot, (7, (0, 20, 0, 0)); queue=true)
set_ptp_cmd(dobot, (7, (0, 0, 20, 0)); queue=true)

# Turn off the suction cup
set_end_effector_suction_cup(dobot, (1, 0); queue=true)

Simple interface

To use the simple interface, import the package and the Simple submodule. Currently provided functions are

• move_to
• rmove_to
• pose
• end_effector
• laser
• gripper
• suction_cup
• wait_for

Each has a docstring.

Note: not all functions have been tested.

using DobotMagician
using DobotMagician.Simple

# Connect to the Dobot (automatically detect the port)
dobot = DobotMagician.Magician()

# Move the arm (linear motion, cartesian end point)
move_to(dobot, XYZR(200, 0, 0, 0))
sleep(2)

# Turn on the suction cup
suction_cup(dobot, true)

# Move the arm
# Queue the commands so they happen sequentially
rmove_to(dobot, XYZR(20, 0, 0, 0); queue=true)
rmove_to(dobot, XYZR(0, 20, 0, 0); queue=true)
rmove_to(dobot, XYZR(0, 0, 20, 0); queue=true)

# Turn off the suction cup
suction_cup(dobot, false; queue=true)