RoboDK Raspberry Pi Robot Control- How to control a robot or mechanism on Raspberry Pi from RoboDK?

To control a robot that is running on a Raspberry Pi from RoboDK, you would typically use the RoboDK Python API to send commands from the RoboDK software to the Raspberry Pi, which then controls the robot hardware. The option to install RoboDK software on Raspberry Pi is always there, but in my experience it was getting though even after trying on various versions of Raspbian OS. One of the main reason on dependencies creating the job tougher is to do with qt installation on the Pi. Hence this steps can help you to do the job. Another valid reason to run RoboDK on a Host PC is to keep your robot hardware handy and minimum loaded with such software that we have enough space to run the core software associated with robot functionality.

This setup usually involves the following steps:

Creating your CAD.

Fabricating and assembling your Robot/Mechanism.

Setting up RoboDK on your PC (host machine).

Connecting RoboDK to the Raspberry Pi via network communication (either TCP/IP or a similar protocol).

Running a Python script on the Raspberry Pi that listens for commands from RoboDK and controls the robot accordingly.

General Approach:

Create your Mechanism using CAD step files in RoboDK.

Configure Robot/Mechanism in RoboDK and check for the axis movements.

RoboDK (host PC) sends commands to the Raspberry Pi.

Raspberry Pi receives these commands and controls the robot via GPIO, serial, or other interfaces.

Key Components:

RoboDK software on the host machine (PC): RoboDK will be used to create and simulate robot programs.

Raspberry Pi with the robot connected: The Raspberry Pi will control the robot hardware.

Communication Protocol: Use TCP/IP, MQTT, or a similar protocol to send commands from RoboDK to the Raspberry Pi.

Step-by-Step Process:

Step 1: Set up the host computer with RoboDK. Create a work cell with a Robot/Mechanism. Create mechanism using the CAD files and configure the robot/mechanism Joint. Test the joint movement execution as per the design

Step 2: Set up the Robot/Mechanism Hardware after fabrication and assembly based on your CAD design.

Step 3: Set up the Raspberry Pi to Control the Robot You will need a script running on the Raspberry Pi that listens for incoming commands (such as joint movements or position commands) and then translates them into actual robot movements. For example, if you're using a robotic arm with a controller (like an Arduino or custom controller), this script would interface with that controller via serial, GPIO, or other methods. In my tutorial video I am walking you through the method of interfacing with GPIO pins and running the hardware. This script listens on a specific port and waits for incoming commands. Depending on the commands received (like MOVE_JOINT_1, MOVE_JOINT_2, etc.), it will execute robot movements.

Step 4: Create a RoboDK Python Script to Send Commands to Raspberry Pi Now, you'll need to create a Python script in RoboDK (running on your host PC) that sends commands to the Raspberry Pi over the network. Key Points: Communication Protocol: The Python script on the host PC sends simple string commands to the Raspberry Pi over TCP/IP. The Raspberry Pi script listens for these commands and takes action based on them. Robot Movement: The Raspberry Pi is responsible for controlling the robot hardware, such as moving the joints. The script could use a robot controller, like a motor driver, to actually move the robot. In the example above, we simulate the robot movement with time.sleep(), but you can replace this with code that interacts with the robot's hardware. RoboDK on the Host: RoboDK is used to simulate and send commands from a graphical interface. In this setup, RoboDK is used to create a robot program, and it communicates with the Raspberry Pi using the Python API.

Step 5: Test the System Start the Raspberry Pi Script: Run the Raspberry Pi script to start listening for commands. Start the RoboDK Python Script: Run the script on your host machine that sends commands to the Raspberry Pi. Check the Connection: The Raspberry Pi should acknowledge the commands sent from RoboDK, and the robot should start moving according to the commands issued by the Python script running in RoboDK.

Step 6: Expanding the Setup Multiple Commands: You can define more sophisticated commands (e.g., MOVE_TO_POSITION_X_Y_Z, SET_SPEED, etc.) and implement those in the Raspberry Pi script. The Raspberry Pi will then interpret these commands and send corresponding control signals to the robot hardware. Feedback Loop: You can also implement a feedback system where the Raspberry Pi sends position or sensor data back to RoboDK, allowing for more advanced control and monitoring.

Conclusion By combining RoboDK's Python API with a custom Python script running on the Raspberry Pi, you can control a robot connected to the Raspberry Pi from RoboDK. This allows you to leverage RoboDK's simulation and programming capabilities while using the Raspberry Pi as an interface to control the physical robot hardware.

Video demonstration on the above content can be found on following link: https://www.youtube.com/watch?v=-aV-fJcjEQc

For creating the Mechanism in RoboDK, refer to my previous video at following link: https://www.youtube.com/watch?v=Lo64M9L4A1I