소프트웨어 라이브러리

// Create a new robot instance
var robot = new UR();

// Connect to the robot
robot.Connect("192.168.0.1");

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

// Load program file to polyscope
robot.Dashboard.LoadProgram("fast_bin_picking.urp");

// Start the program
robot.Dashboard.Play();

// Get program name and state
var state = robot.Dashboard.GetProgramState();
Console.WriteLine($"Program name : {state.Value.Name}");
Console.WriteLine($"Stopped, Playing or Paused ? : {state.Value.State}");

// Display a popup on the pendant
robot.Dashboard.ShowPopup("I just remote-controlled my robot!");

// Display robot TCP pose
var pose = robot.Rtde.OutputDataValues.ActualTcpPose;
// pose.X, pose.Y, pose.Z, pose.Rx, ...

// Display robot TCP force
var force = robot.Rtde.OutputDataValues.ActualTcpForce;

// Write data in robot controler
var inputs = new RtdeInputValues();
inputs.StandardAnalogOutput0 = 0.2;
inputs.InputBitRegisters.X64 = true;
robot.Rtde.WriteInputs(inputs);


// Display all program and installation variables
var variables = robot.PrimaryInterface.GlobalVariables.GetAll();
string name = variables[0].Name;
Pose value = variables[0].ToPose();
GlobalVariableTypes type = variables[0].Type;

// Ask robot to execute a movej
robot.PrimaryInterface.Script.Send("movej([-1.5,-1.5,-2,-0.5,1.8,0], a=1.4, v=1.05, t=0, r=0)");

// Enumerates files and folder
SftpFile[] items = robot.Sftp.ListDirectory("/home/ur/ursim-current/programs/");

// Download program file prg.urp to your local disk
robot.Sftp.DownloadFile("/home/ur/ursim-current/programs/prg.urp", @"C:\temp\prg.urp");

// Send a local file to the robot
robot.Sftp.UploadFile(@"C:\temp\prg.urp", "/home/ur/ursim-current/programs/prg.urp");

// Manipulate files and directories
robot.Sftp.RenameFile("/home/ur/prg.urp", "/home/ur/prg2.urp");
robot.Sftp.Delete("/home/ur/prg.urp");
bool exists = robot.Sftp.Exists("/home/ur/prg.urp");
robot.Sftp.WriteAllText("/home/ur/file.txt", "Hello robot !");
// ...

// Robot connects with URScipt function socket_open()
robot.SocketCommunication.SocketClientConnection += (o, e) =>
{
  // Reply to the robot
  e.Client.SocketWrite("Hello cobot <3");
};

// Event raised when the robot sends a message with socket_write()
robot.SocketCommunication.SocketRequest += (o, e) =>
{
  string robotMessage = e.Message;
};

// Send a message to all connected clients
robot.SocketCommunication.SocketWrite("123456");

// Create X, Y, Z, RX, RY, RZ pose
var pose = new Pose(0.1, 0.2, -0.1, 0, 0.05, 0.1);

// Convert cartesian pose type to RPY or rotation vector
var rpy = pose.FromRotationVectorToRPY();
var vectorPose = pose.FromRPYToRotationVector();

// Get default DH parameters for UR3e robot model
IUrDhParameters dhParameters = KinematicsUtils.GetDhParametersFromModel(RobotModelsExtended.UR3e);

// Calculate forward kinematics for given joint angles in radians
KinematicsResult fkResult = KinematicsUtils.ForwardKinematics(new double[] { 0, -1.57, 1.57, 0, 0, 0 }, dhParameters);

// Convert the matrix transform to a Pose (X, Y, Z, RX, RY, RZ)
Pose cartesianPosition = Pose.From4x4MatrixToRotationVector(fkResult.ToolTransform);

// Calculate inverse kinematics for given cartesian pose
var matrix = vectorPose.FromRotationVectorTo4x4Matrix();
double[][] ikSolutions = KinematicsUtils.InverseKinematics(matrix, dhParameters);

// Decompile program and installation files and access inner XML
URInstallation installation = URInstallation.Load("C:\\temp\\default.installation");
URProgram prg = URProgram.Load("C:\\temp\\prg.urp");
XElement internalXml = prg.XML;