Name: UnderAutomation.UniversalRobots
Author: UnderAutomation

UnderAutomation.UniversalRobots — nugetz

var robot = new UR();

var param = new ConnectParameters("192.168.0.1");

// Enable RTDE
param.Rtde.Enable = true;

// Exchange data at 500Hz
param.Rtde.Frequency = 500;

// Select data you want to write in robot controller
param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput0);
param.Rtde.InputSetup.Add(RtdeInputData.InputIntRegisters, 0);

// Select data you want the robot to send
param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

// Connect to robot
robot.Connect(param);

// Be notified at 500Hz when data is received
robot.Rtde.OutputDataReceived += Rtde_OutputDataReceived;

// Write input values in robot
var inputValues = new RtdeInputValues();
inputValues.StandardAnalogOutput0 = 0.2;
inputValues.InputIntRegisters.X0 = 12;
robot.Rtde.WriteInputs(inputValues);

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

// Get data
double x = robot.PrimaryInterface.CartesianInfo.TCPOffsetX;
double shoulderSpeed = robot.PrimaryInterface.JointData.Shoulder.ActualSpeed;

// Read program variables
GlobalVariable myVar = robot.PrimaryInterface.GlobalVariables.GetByName("myVar");
GlobalVariable[] variables =  robot.PrimaryInterface.GlobalVariables.GetAll();

// For cobots with Polyscope
robot.Dashboard.PowerOn();
robot.Dashboard.ReleaseBrake();
robot.Dashboard.LoadProgram("prg1.urp");
robot.Dashboard.Play();

// For robots with Polyscope X
robot.Rest.PowerOn();
robot.Rest.ReleaseBrake();
robot.Rest.LoadProgram("prg1.urp");
robot.Rest.Play();

// Get default DH parameters for UR3e robot model²
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);

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

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

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

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

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

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

using UnderAutomation.UniversalRobots;

var robot = new UR();
robot.Connect(new ConnectParameters("192.168.0.1"));

OS	Architecture	Download
🐧 Linux	ARM	📥 Download
🐧 Linux	x64	📥 Download
🍏 macOS	ARM64	📥 Download
🍏 macOS	x64	📥 Download
🖥 Windows	x64	📥 Download
🖥 Windows	x86	📥 Download

Method	NuGet (Recommended)	Direct Download
How to Install	Install via NuGet. See on Nuget	Download and reference the DLL manually
	`dotnet add package UnderAutomation.UniversalRobots`	📥 Download ZIP

UnderAutomation/UnderAutomation.UniversalRobotsv9.2.0

Get Started

Readme

Universal Robots Communication SDK

🤖 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)

🔹 Primary Interface

🔹 Remote Robot Control

🔹 Inverse Kinematics - Forward Kinematics

🔹 XML-RPC – Call .NET Functions from URScript

🔹 Socket Communication

🔹 Secure File Transfer (SFTP)

🔹 SSH – Run Terminal Commands

🛠 Installation

1️⃣ Get the SDK

2️⃣ Reference the SDK in Your Code

3️⃣ Connect to Your Robot

🔍 Compatibility

📢 Contributing

📜 License

📬 Need Help?