sunien / dorna

Dorna Robotics API

Dorna

Dorna is a 5-axis robotic arm, with industrial grade quality, offered at an affordable price for use in industrial or research applications. Dorna has maximum payload of about 1.1KG (2.5lbs) and reach of about 500mm (20in). Dorna uses g2core firmware for its motor control and motion planning. On this Github repo you will find the API of Dorna that can be used to control the robot in Python.

Wiki

For the full documentation visit the dorna Wiki page.

Installation

GitHub
To install the Python package from GitHub, you need to clone the repository first.

git clone https://github.com/dorna-robotics/dorna.git

After download, go to the directory, and run:

python setup.py install

ROS

For implementing Dorna with ROS, please visit the rakutentech/dorna_arm_ros repository.

API initialization

Import the module and create a Dorna object for interacting with the API:

from dorna import Dorna
robot = Dorna()