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Universal Robots SDK 文档

只需几行代码，即可将您的应用程序连接到 Universal Robots 机器人。

无需在机器人上安装任何软件

SDK 使用控制器的网络协议。
.NETPythonLabVIEWMatlab

.NET · Python · LabVIEW · Matlab

每种语言都有相同的功能和相同的 API。

30 天免费试用

之后购买永久许可证，无需订阅。
下载价格

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关于机器人： Universal Robots Forum

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Universal Robots SDK 文档
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Get started

Get started with .NET

Add the Universal Robots SDK to a C#, VB.NET or F# project from NuGet or from the zip, and write a first program. .NET Framework 3.5 to .NET 10, Windows, Linux and macOS.

Get started with Python

Install the Universal Robots SDK from PyPI and write a first Python program. Python 3.7 to 3.13 on Windows, Linux and macOS, with pythonnet.

Get started with LabVIEW

Read and control a UR cobot from LabVIEW 2010 and later with the VIs of UniversalRobots.vi: Primary Interface, RTDE, Dashboard Server and SFTP.

Get started with Matlab

Load the .NET DLL of the Universal Robots SDK in Matlab with NET.addAssembly, and read and control a UR cobot from a Matlab script.

Try the SDK with the demo application

Download the Windows demo application of the Universal Robots SDK and try every interface on your robot or on URSim, without writing code. Its C# sources are on GitHub.

Connect to the robot

Enable the interfaces of the UR cobot, set the network and the remote control, then connect with ConnectParameters. Ports, settings and errors.

Develop without a robot (URSim)

Install URSim, the simulator of Universal Robots, in VirtualBox for PolyScope 5 or in Docker for PolyScope X, and connect the SDK to it.

Licensing

The 30 day trial of the Universal Robots SDK, the license key, the license states, the maintenance and the source license.

AI agent skills

Install the skill of the Universal Robots SDK in Claude Code, Codex, GitHub Copilot or Cursor, for C# or Python. The agent then answers with the documentation and the API of your SDK version.

Communication protocols

RTDE: Real-Time Data Exchange

Exchange data with a UR cobot up to 500 Hz with RTDE: choose the outputs and the inputs, receive the data, write the inputs, pause and resume.

Primary Interface: data streaming

Receive the state of a UR cobot at 10 Hz with the Primary Interface: robot mode, joints, tool, I/O, Cartesian position, kinematics and configuration.

Send URScript

Send URScript to a UR cobot with the Primary Interface: a line, a program or a secondary program, and their effect on the running program.

Dashboard Server: remote commands

Power, brakes, programs, popups, robot mode and safety status of a UR cobot with the Dashboard Server of PolyScope 5. All the commands of the SDK.

REST API (PolyScope X)

Control a UR cobot with PolyScope X over HTTP: power, brakes, load, play and stop programs, read the program state. Replaces the Dashboard Server.

SFTP file handling

Download, upload, list, rename and delete the files of a UR controller with SFTP: programs, installations and any other file.

SSH Linux commands

Run Linux commands on the controller of a UR cobot with SSH, one by one or in a shell that keeps its session.

XML-RPC

Answer the XML-RPC calls of a UR robot program from your application: positions, numbers, text. The SDK is the server.

Interpreter Mode

Send URScript statements to a running UR program in interpreter_mode(), follow their execution, skip or clear the buffer, end the mode.

Socket communication

Exchange your own messages with a UR robot program through the socket functions of URScript. The SDK is the socket server.

Offline Toolbox

Forward and inverse kinematics

Compute the forward and inverse kinematics of UR cobots without a robot: DH parameters of each model, flange pose, up to 8 solutions, singularities.

Convert position types

Convert the orientation of a UR pose between rotation vector, roll pitch yaw, 4x4 transform and quaternion with the Pose class.

Program and installation files

Open the .urp program and .installation files of a UR cobot on the PC, read and change their XML, and save them again.

How-To Articles

Get the robot position

Read the joint positions and the TCP position of a UR cobot in C# or Python, with RTDE up to 500 Hz or with the Primary Interface.

Read and write I/O

Read and write the digital and analog I/O of a UR cobot in C# or Python, with RTDE and its masks, or with the Primary Interface.

Read and write variables

Read the program and installation variables of a UR cobot in C# or Python with the Primary Interface or the Dashboard Server, and how to change them.

Read and write registers

Exchange values between a UR robot program and a PC with the boolean, integer and float registers, with RTDE up to 500 Hz.

Run a program

Power on a UR cobot, release the brakes, load a program and play it from a PC in C# or Python, then follow it until its end.

Read and reset alarms

Read the error messages, the program errors and the safety status of a UR cobot in C# or Python, and reset a protective stop or a safety fault.

Transfer files and backups

Copy the programs of a UR cobot to a PC for a backup, send a program to the robot and load it, in C# or Python with SFTP.

Monitor the state of the robot

Follow the robot mode, the program, the stops, the safety status and the connection of a UR cobot in C# or Python.

Move the robot from a PC

Move a UR cobot from a PC in C# or Python with URScript, the Interpreter Mode, registers or a program, and check the position reached.

Legal notice and acknowledgements

Legal notice and acknowledgements for the UnderAutomation Universal Robots SDK.

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