CS Robot use MDH parameters to create models, the MDH parameter for each model can be found at: https://bbs.elibot.cn/forum/detail/topic/376.html

Users can use TCP/IP communication to obtain data from port 30001, the data contains MDH parameter for current robot.

To analysis the data from port 30001, please use the Robot State Message Chat that attached with the User manual, which can be download from the the following link:

https://drive.google.com/drive/folders/1ImbQzU5DomuCiMznPaauQsyDpmYew2_t

The following are some sample code. The robot comunicates with itself to obtain the MDH parameters. 

It also uses the data to perfrom a forward kinematic calculation.

import socket
import struct
import time

HOST = "127.0.0.1"  # The server's hostname or IP address
PORT = 30001  # The port used by the server

global a
global d
global alpha
global theta
a = [0, 0, 0, 0, 0, 0]
d = [0, 0, 0, 0, 0, 0]
alpha = [0, 0, 0, 0, 0, 0]
theta = [0, 0, 0, 0, 0, 0]

# CS Obtains MDH parameter
bFinish = False
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
    s.connect((HOST, PORT))

    while bFinish == False:
        __buf = s.recv(4096)
        #print(len(__buf))
        if len(__buf) <= 0:
            time.sleep(0.01)

        while(len(__buf) > 0):
            data_length = struct.unpack(">i", __buf[0:4])[0]
            data_type = struct.unpack("B", __buf[4:5])[0]
            #print(data_length, data_type)
            data, __buf = __buf[0:data_length], __buf[data_length:]

            if data_type == 16:
                # MESSAGE_TYPE_ROBOT_STATE = 16
                bFinish = True
                sub_type = 0
                
                data = data[5:data_length]
                # Remove the head of the message at the first 5 bytes
                while sub_type != 6:
                    #ROBOT_STATE_PACKAGE_TYPE_CONFIGURATION_DATA = 6
                    sub_length = struct.unpack(">i", data[0:4])[0]
                    sub_type = struct.unpack("B", data[4:5])[0]
                    data1, data = data[0:sub_length], data[sub_length:]

                curr_data_add = 5+32*6+40
				
                for i in range(0, 6):
                        a[i] = struct.unpack(
                                ">d", data1[curr_data_add:curr_data_add+8])[0]
                        curr_data_add = curr_data_add+8

                for i in range(0, 6):
                        d[i] = struct.unpack(
                                ">d", data1[curr_data_add:curr_data_add+8])[0]
                        curr_data_add = curr_data_add+8

                for i in range(0, 6):
                        alpha[i] = struct.unpack(
                                ">d", data1[curr_data_add:curr_data_add+8])[0]
                        curr_data_add = curr_data_add+8

                for i in range(0, 6):
                        theta[i] = struct.unpack(
                                ">d", data1[curr_data_add:curr_data_add+8])[0]
                        curr_data_add = curr_data_add+8


def mdh2pose(a,alpha,d,theta):
    # Rx(alpha) * Dx(a) * Rz(theta) * Dz(d)
    pose = [0, 0, 0, 0, 0, 0]
    pose[0] = a
    pose[3] = alpha

    pose = pose_trans(pose, [0, 0, 0, 0, 0, theta])
    pose = pose_trans(pose, [0, 0, d, 0, 0, 0])
    return pose
end

def ForwardKinCal(c_joint):
    # Input angle to calculate Position in Cartesian Coordinate refer to base of the robot by forward kinematics
    out = [0,0,0,0,0,0]
    for i in range(0,6):
        out = pose_trans(out,mdh2pose(a[i], alpha[i], d[i], theta[i]+c_joint[i]))
    return out
	# Returns the pose of the flange

global c_pose
# Unit for xyz are in m，Unit for rpy are in radian

global c_pose1
# Unit for xyz are in mm，Unit for rpy are in degrees

joint = get_actual_joint_positions()
c_pose = ForwardKinCal(joint)
c_pose1=[c_pose[0]*1000,c_pose[1]*1000,c_pose[2]*1000,c_pose[3]/3.14159*180,c_pose[4]/3.14159*180,c_pose[5]/3.14159*180]

    The calculated result for c_pose1 matches with the actual result displaying in Tool Position