Universal Robots SDKUniversal Robots の協働ロボットを 自社のソフトウェアから制御

static void Main(string[] args)
{
var robot = new UR();

// Primary Interface and Dashboard Server
robot.Connect("192.168.0.1");

// Power on the arm and release the brakes
robot.Dashboard.PowerOn();
robot.Dashboard.ReleaseBrake();

// Load a program and start it
robot.Dashboard.LoadProgram("pick_and_place.urp");
robot.Dashboard.Play();

// Name and state of the program
var state = robot.Dashboard.GetProgramState();
Console.WriteLine(state.Value.Name + ": " + state.Value.State);

// Show a message on the teach pendant
robot.Dashboard.ShowPopup("Started from the PC");
}
}

robot.Rtde.OutputDataReceived += (sender, e) =>
{
// Position of the tool: X, Y, Z in m, rotation vector in rad
Pose pose = robot.Rtde.OutputDataValues.ActualTcpPose;

// Force at the tool
CartesianCoordinates force = robot.Rtde.OutputDataValues.ActualTcpForce;

// Write analog output 0 and bit register 64
var inputs = new RtdeInputValues();
inputs.StandardAnalogOutputMask = 0b01;
inputs.StandardAnalogOutput0 = 0.2;
inputs.InputBitRegisters.X64 = true;
robot.Rtde.WriteInputs(inputs);


// Program and installation variables
GlobalVariable[] variables = robot.PrimaryInterface.GlobalVariables.GetAll();
foreach (var variable in variables)
  Console.WriteLine(variable.Name + " = " + variable.Value);
};
}

robot.Connect(parameters);
// Run a URScript line
robot.PrimaryInterface.Script.Send("movej([-1.5, -1.5, -2, -0.5, 1.8, 0], a=1.4, v=1.05)");

// List the programs of the robot
SftpFile[] items = robot.Sftp.ListDirectory("/programs/");

// Download a program to the PC
robot.Sftp.DownloadFile("/programs/prg.urp", @"C:\temp\prg.urp");

// Send a program to the robot
robot.Sftp.UploadFile(@"C:\temp\prg.urp", "/programs/prg.urp");

// Rename, check, delete
robot.Sftp.RenameFile("/programs/prg.urp", "/programs/prg2.urp");
bool exists = robot.Sftp.Exists("/programs/prg2.urp");
robot.Sftp.DeleteFile("/programs/prg2.urp");
}
}

robot.Connect(parameters);
// The robot connects with the URScript function socket_open()
robot.SocketCommunication.SocketClientConnection += (sender, e) =>
{
  e.Client.SocketWrite("Hello robot");
};

// The robot sends a message with socket_send_string()
robot.SocketCommunication.SocketRequest += (sender, e) =>
{
  Console.WriteLine(e.Message);
};

// Send a message to every connected robot
robot.SocketCommunication.SocketWrite("123456");
}
}

static void Main(string[] args)
{
// X, Y, Z in m, rotation vector RX, RY, RZ in rad
var pose = new Pose(0.1, 0.2, -0.1, 0, 0.05, 0.1);

// Convert the rotation to roll, pitch, yaw, and back
Pose rpy = pose.FromRotationVectorToRPY();
Pose rotationVector = rpy.FromRPYToRotationVector();

// Nominal DH parameters of a UR3e
IUrDhParameters dh = KinematicsUtils.GetDhParametersFromModel(RobotModelsExtended.UR3e);

// Forward kinematics, joint positions in rad
KinematicsResult fk = KinematicsUtils.ForwardKinematics(new double[] { 0, -1.57, 1.57, 0, 0, 0 }, dh);
Pose flange = Pose.From4x4MatrixToRotationVector(fk.ToolTransform);

// Inverse kinematics: up to 8 solutions
double[][] solutions = KinematicsUtils.InverseKinematics(pose.FromRotationVectorTo4x4Matrix(), dh);

// Open program and installation files, as XML
URInstallation installation = URInstallation.Load(@"C:\temp\default.installation");
URProgram program = URProgram.Load(@"C:\temp\prg.urp");
XElement xml = program.XML;
}
}