🤖 Effortlessly Communicate with Universal Robots

🚀 TL;DR (Too Long; Didn’t Read)

📥 Download Example Applications

🔹 Windows Forms Application (Full Feature Showcase)

🔹 Console Applications (Multi-Platform)

📌 Features

🔹 Real-Time Data Exchange (RTDE)

varrobot=newUR();varparam=newConnectParameters("192.168.0.1");// Enable RTDEparam.Rtde.Enable=true;// Exchange data at 500Hzparam.Rtde.Frequency=500;// Select data you want to write in robot controllerparam.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput0);param.Rtde.InputSetup.Add(RtdeInputData.InputIntRegisters,0);// Select data you want the robot to sendparam.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters,10);// Connect to robotrobot.Connect(param);// Be notified at 500Hz when data is receivedrobot.Rtde.OutputDataReceived+=Rtde_OutputDataReceived;// Write input values in robotvarinputValues=newRtdeInputValues();inputValues.StandardAnalogOutput0=0.2;inputValues.InputIntRegisters.X0=12;robot.Rtde.WriteInputs(inputValues);

🔹 Primary Interface

// Send scriptrobot.PrimaryInterface.Script.Send("movej([-1.5,-1.5,-2,-0.5,1.8,0], a=1.4, v=1.05)");// Get datadoublex=robot.PrimaryInterface.CartesianInfo.TCPOffsetX;doubleshoulderSpeed=robot.PrimaryInterface.JointData.Shoulder.ActualSpeed;// Read program variablesGlobalVariablemyVar=robot.PrimaryInterface.GlobalVariables.GetByName("myVar");GlobalVariable[]variables=robot.PrimaryInterface.GlobalVariables.GetAll();

🔹 Dashboard Server – Remote Robot Control

robot.Dashboard.PowerOn();robot.Dashboard.ReleaseBrake();robot.Dashboard.LoadProgram("prg1.urp");robot.Dashboard.Play();

🔹 Inverse Kinematics - Forward Kinematics

// Get default DH parameters for UR3e robot model²IUrDhParametersdhParameters=KinematicsUtils.GetDhParametersFromModel(RobotModelsExtended.UR3e);// Calculate forward kinematics for given joint angles in radiansKinematicsResultfkResult=KinematicsUtils.ForwardKinematics(newdouble[]{0,-1.57,1.57,0,0,0},dhParameters);// Calculate inverse kinematics for given cartesian posevarmatrix=vectorPose.FromRotationVectorTo4x4Matrix();double[][]ikSolutions=KinematicsUtils.InverseKinematics(matrix,dhParameters);

🔹 XML-RPC – Call .NET Functions from URScript

rpc :=rpc_factory("xmlrpc","http://192.168.0.10:50000")answer :=rpc.GetPose(100)

// Answer sent to the robotrobot.XmlRpc.XmlRpcServerRequest+=(o,request)=>{if(request.MethodName=="GetPose")request.Answer=newPose(request.Arguments[0],200,100,0,0,0);};

🔹 Socket Communication

robot.SocketCommunication.SocketWrite("Hello, Robot!");robot.SocketCommunication.SocketRequest+=(sender,e)=>Console.WriteLine(e.Message);

🔹 Secure File Transfer (SFTP)

robot.Sftp.UploadFile(content,"/home/ur/ursim/programs/my-program.urp");robot.Sftp.Delete("/home/ur/ursim/programs/old-program.urp");

🔹 SSH – Run Terminal Commands

robot.Ssh.RunCommand("echo 'Hello' > /home/ur/Desktop/NewFile.txt");

🛠 Installation

1️⃣Get the SDK

2️⃣Reference the SDK in Your Code

usingUnderAutomation.UniversalRobots;

3️⃣Connect to Your Robot

varrobot=newUR();robot.Connect(newConnectParameters("192.168.0.1"));

🔍 Compatibility

📢 Contributing

📜 License

📬 Need Help?