Dobot

1.machine sketch

2.calculate

the computer catch the position of target such as (x,y), (maybe a3), and calculate the a1 and a2, draw module with them in the screen.

input: the target position(x,y)

**output: the 3 angles(a1,a2) **

float A,B,C;              //temp variables
float x,y;                //input
float a1,a2;              //output
A = -2 * x * L1;
B = 2 * (y-L3)*L1;
C = sq(L2) - sq(L1) - sq(x) - sq(y-L3);

a1 = 2*atan((B-sqrt(sq(B)+sq(A)-sq(C)))/(A+C))
A = 2 * (y-L3) * L2;
B = 2 * x * L2;
C = sq(L2) + sq(x) + sq(L3 - y) - sq(L1) ;

a2 =2*atan((B-sqrt(sq(B)+sq(A)-sq(C)))/(A+C))

3 communication Protocol

####1 Parameters setting Baud rate:256000. Parity: None. Stop: 1. ####2 begin communicate PC send beginPackage{}, and communicate is beginned. later Lower machine send data requestPackage{} per 60ms.

	beginPackage
	{
		0xa5,0x00,0x00,0x11,0x11,
		0x22,0x22,0x33,0x33,0x00,
		0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,
		0x00,0x5a
	}
	requestPackage
	{0xa5...0x5a}
	38byte

####3 move control after resceived the requestPackage{}, PC send controlPackage{}.

c

	code

c++

	code

python

	code

java

	code

c#

	code

4 Arduino software

5 schematic and PCB board