Available Robots and Drivers

In order to simulate and interact with a robot in Parametric Robot Control, you need to provide the robot type and the robot driver. Both refer to classes in the PRC.Library.dll, i.e. KUKA.KUKA_KR1000 constructs a KR1000 robot via PRC.Library.Robots.KUKA.KUKA_KR1000(). The driver sets the appropriate kinematic solvers to perform the simulation. A driver may generate robot code or provide a real-time interface.

Drivers

KUKA.KSS_KRL_Driver

Preview: Driver for simulating robots running KSS (KRC1-5). Outputs code in KRL format.

KUKA.KSS_MXA_Driver

Experimental: Driver for connecting with KSS robots via mxAutomation. mxAutomation must be installed in a version that fits the mxAutomation.dll. Experimental, expect e.g. issues when re-opening a connection.

UR.UR_Driver

Experimental: Experimental driver with support for Universal Robots UR10e and UR20 on both Polyscope 5 and Polyscope X

IGUS.IGUS_Driver

Proof of Concept: Highly experimental driver with support for the IGUS ReBel robot.

NEURA.NEURA_SIM_Driver

Proof of Concept: Highly experimental driver with support for the NEURA MAiRA 7 robot. Generates Python code that requires the NeuraPy library to execute.

Generic.Generic_Driver Placeholder: To be used for accessing IO values and data from other robots, e.g. for an IoT device.

Robots

The following robots are currently integrated. They match the robot library currently available in KUKA|prc.

KUKA.KUKA_KR1000
KUKA.KUKA_KR10R1420
KUKA.KUKA_KR10R14402
KUKA.KUKA_KR120KR150R31002
KUKA.KUKA_KR120KR210R27002
KUKA.KUKA_KR120R1800
KUKA.KUKA_KR120R3900K
KUKA.KUKA_KR125200
KUKA.KUKA_KR12KR20R1810
KUKA.KUKA_KR150240L110180
KUKA.KUKA_KR180KR240R29002
KUKA.KUKA_KR200comp
KUKA.KUKA_KR20R3100
KUKA.KUKA_KR210KR240R2700
KUKA.KUKA_KR210R31002
KUKA.KUKA_KR210R3300K
KUKA.KUKA_KR22R1610
KUKA.KUKA_KR250KR300R27002
KUKA.KUKA_KR3060
KUKA.KUKA_KR3070R2100
KUKA.KUKA_KR30L16
KUKA.KUKA_KR3605002
KUKA.KUKA_KR3R540
KUKA.KUKA_KR480R3330
KUKA.KUKA_KR4R600
KUKA.KUKA_KR50R2500
KUKA.KUKA_KR50R2500CRW
KUKA.KUKA_KR5arcHW
KUKA.KUKA_KR600R2830
KUKA.KUKA_KR610R1100
KUKA.KUKA_KR610R11002
KUKA.KUKA_KR610R900
KUKA.KUKA_KR610R9002
KUKA.KUKA_KR61620
KUKA.KUKA_KR616Arc
KUKA.KUKA_KR6R1820
KUKA.KUKA_KR6R18402
KUKA.KUKA_KR6R700
KUKA.KUKA_KR816R20102
KUKA.KUKA_KR8R1620
KUKA.KUKA_KR90KR120R2900
KUKA.KUKA_KR90KR150R3700K
KUKA.KUKA_KR90KR270R2500
KUKA.KUKA_KR90KR270R2700
KUKA.KUKA_KR90KR270R3100
KUKA.KUKA_LBR3R760
KUKA.KUKA_OALego

IGUS.IGUS_ReBel

NEURA.NEURA_MAIRA_M

UR.UR_10e
UR.UR_20