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Implementation of the RoboDK API in different programming languages. The RoboDK API allows simulating and programming any industrial robot (offline and online)
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README.md

RoboDK API

This repository is the implementation of the RoboDK API in different programming languages for simulation and offline programming. The RoboDK API allows you to program any industrial robot arm using your preferred programming language.

The RoboDK API is available in the following programming languages:

The RoboDK API allows creating simulations for industrial robots, specific mechanisms and generating vendor-specific programs for robots. While RoboDK's graphical user interface can be used to create programs, it is possible to extend the robot controller limitations by using a universal programming language such as Python.

With the RoboDK API it is possible to simulate and program any industrial robot using your preferred programming language. This avoids using vendor-specific programming languages.

Each package implements the following modules/classes:

  • The robolink module is the link to RoboDK.
  • The Item module: any item from the RoboDK item tree can be retrieved. Items are represented by the object Item (RoboDK.Item). An item can be a robot, a reference frame, a tool, an object or a specific project.
  • The robodk module includes a robotics toolbox for pose operations. This toolbox is inspired from Peter Corke's Robotics Toolbox.

The following website provides an overview of the RoboDK API: https://robodk.com/offline-programming

RoboDK can be used for a wide range of applications, such as 3D printing, robot machining, synchronizing multiple robots, pick and place...

Important: The RoboDK API is not the same as the RoboDK Plug-In interface.

Requirements

RoboDK must be installed:

The RoboDK API can be used with a free RoboDK license.

Documentation

Example

The following script (Python) shows an example that uses the RoboDK API for robot simulation and offline programming::

from robolink import *    # RoboDK's API
from robodk import *      # Math toolbox for robots

# Start the RoboDK API:
RDK = Robolink()

# Get the robot item by name:
robot = RDK.Item('Fanuc LR Mate 200iD', ITEM_TYPE_ROBOT)

# Get the reference target by name:
target = RDK.Item('Target 1')
target_pose = target.Pose()
xyz_ref = target_pose.Pos()

# Move the robot to the reference point:
robot.MoveJ(target)

# Draw a hexagon around the reference target:
for i in range(7):
    ang = i*2*pi/6 #ang = 0, 60, 120, ..., 360

    # Calculate the new position around the reference:
    x = xyz_ref[0] + R*cos(ang) # new X coordinate
    y = xyz_ref[1] + R*sin(ang) # new Y coordinate
    z = xyz_ref[2]              # new Z coordinate    
    target_pos.setPos([x,y,z])

    # Move to the new target:
    robot.MoveL(target_pos)

# Trigger a program call at the end of the movement
robot.RunCode('Program_Done')

# Move back to the reference target:
robot.MoveL(target)

The same script used for simulation can be used for offline programming, this means that the corresponding program can be generated for the robot controller. RoboDK supports a large number of robot controllers and it is easy to include compatibility for new robot controllers using Post Processors.

For more Examples:

For more information about robot post processors:

Supported robots

The following list includes the robot controllers supported by RoboDK:

  • ABB RAPID IRC5: for ABB IRC5 robot controllers
  • ABB RAPID S4C: for ABB S4C robot controllers
  • Adept Vplus: for Adept V+ programming language
  • Allen Bradley Logix5000: for Allen Bradley Logix5000 PCL
  • CLOOS: for cloos robot controllers
  • Comau C5G: for Comau C5G robot controllers
  • Denso PAC: for Denso RC7 (and older) robot controllers (PAC programming language)
  • Denso RC8: for Denso RC8 (and newer) robot controllers (PacScript programming language)
  • Dobot: for educational Dobot robots
  • Fanuc R30iA: for Fanuc R30iA and R30iB robot controllers
  • Fanuc R30iA Arc: for Fanuc Arc welding
  • Fanuc RJ3: for Fanuc RJ3 robot controllers
  • GCode BnR: for B&R robot controllers
  • GSK: for GSK robots
  • HIWIN HRSS: for HIWIN robots
  • KAIRO: for Keba Kairo robot controllers
  • KUKA IIWA: for KUKA IIWA sunrise programming in Java
  • KUKA KRC2: for KUKA KRC2 robot controllers
  • KUKA KRC2 CamRob: for KUKA CamRob milling option
  • KUKA KRC2 DAT: for KUKA KRC2 robot controllers including DAT data files
  • KUKA KRC4: for KUKA KRC4 robot controllers
  • KUKA KRC4 Config: for KUKA KRC4 robot controllers with configuration data in each line
  • KUKA KRC4 DAT: for KUKA KRC4 robot controllers including DAT data files
  • Kawasaki: for Kawasaki AS robot controllers
  • Mecademic: for Mecademic Meca500 robot
  • Motoman/Yaskawa: For Motoman robot controllers (JBI II and JBI III programming)
  • Mitsubishi: for Mitsubishi robot controllers
  • Nachi AX FD: for Nachi AX and FD robot controllers
  • Daihen OTC: for Daihen OTC robot controllers
  • Precise: for Precise Scara robots
  • Siemens Sinumerik: for Siemens Sinumerik ROBX robot controller
  • Staubli VAL3: for Staubli VAL3 robot programs (CS8 controllers and later)
  • Staubli VAL3 InlineMove: to generate Staubli VAL3 programs with inline movement data
  • Staubli S6: for Staubli S6 robot controllers
  • Toshiba: for Toshiba robots
  • Universal Robots: for UR robots, generates linear movements as pose targets
  • Universal Robots RobotiQ: for UR robots including support for RobotiQ gripper
  • Universal Robots joints: for UR robots, generates linear movements as joint targets
  • Yamaha: for Yamaha robots
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