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FURobot
ADDON. Version 0.9.17.3. Released on 30-Dec-2023. Provides 240 components. Created by FabUnion. Features 0 video tutorials.
FURobot is a robot programming platform developed by Fab-Union for the construction industry.The purpose of FURobot is to program on robot more easily,and convert the design into real object with little effort by using some technique packages.
Tool
| Astar (Nickname) A star | |
| SE3To Twist (STT) Convert SE3 to twist | |
| Twist To SE3 (T2S) Convert twist to SE3 | |
| Download Set Tool (Nickname) Download and set the tool | |
| Down Load Tool (Nickname) Description | |
| Compose Twist2 (Twist) Compose Twist | |
| Motion Planning Robot3 (Nickname) Description | |
| Motion Planning Robot4 (Nickname) Description | |
| Motion Planning Robot5 (Nickname) Description | |
| Data Smooth (Nickname) Description | |
| DLT3D Get Affine transform by DLT3D | |
| File Remove External Axis (ReMoveEA) Just remove E1~E4 ,just for KUKA robot | |
| Fourier Series (FS) FourierSeries with threshold | |
| Get Angle Axis From Matrix (M2R) Get AxisAngle from transform maxtrix | |
| Get Axis Angle From Rot Vec (Nickname) Description | |
| Get Info (Info) Get info | |
| Get Lie Algebra From Matrix (Nickname) Description | |
| Get Matrix From Axis Angle (R2M) Get transform matrix from axis angle | |
| Get Matrix From Rot Vec (R2M) Get transform matrix from rotation vector | |
| Get Matrix Fromse3 (GMse3) Get Matrix From se3 | |
| Get Matrix From XYZABC (M2XYZABC) Get matrix from xyzabc | |
| Get Transform From XYZQuat Get transform from xyzQuat | |
| Get Rot Vec From Axis Angle (Nickname) Description | |
| Get Rot Vec From Matrix (M2R) Get rotation vector from transform maxtrix | |
| Get File Path (GSFP) Get the path file. | |
| Get XYZABCFrom Matrix (ABC2M) Get XYZABC from a transform matrix | |
| Get XYZQuat From Matrix (Nickname) Description | |
| Ransac Line (RansacLine) Using RANSAC to fit line. | |
| Fit Plane (FitPlane) Using RANSAC to fit plane. | |
| Render Plane Geo (GPG) Render the plane geometroy | |
| Rotate For ABB (RotRABB) Rotate the target plane 180 degrees about Y axis for ABB when using NonPro mode | |
| Rotate For KUKA (RotKUKA) Rotate the target plane 90 degrees about Y axis for KUKA when using NonPro mode | |
| Rotate For UR (RotUR) Rotate the target plane 180 degrees about X axis,then rotate it's z axis 180 degrees for UR when using NonPro mode | |
| TCPSend (TCPS) TCP client for sending and receiving string | |
| TCPListener (TCPL) TCP server as a Listener | |
| Load Tool From File (Nickname) Description | |
| Up Load Tool (UpLoadTool) UpLoad Tool to server | |
| Obstacle Solver (OS) Obstacle Solver | |
| Construct Twist (Twist) Construct twist without unit convertion | |
| Deconstruct Twist (DeTwist) Construct twist without unit convertion |
Robot
| IRB120 (R) IRB120 robot | |
| IRB140 IRB140 | |
| IRB1600r1200 (R) IRB1600r1200 robot | |
| IRB4600r205 (R) IRB4600r205 robot | |
| IRB4600r255 (R) IRB4600r255 robot | |
| IRB6650s125r350 IRB6650s125r350 | |
| IRB6650s200r300 IRB6650s200r300 | |
| IRB6700 150r320 IRB6700 150r320 | |
| IRB7600 325/3.10 IRB7600 325/3.10 | |
| IRB2600 20 165 (IRB2600_20_165) IRB2600_20_165 | |
| KR120 R2500 (R) KR120R2500 | |
| KR16 R1610 KR16 R1610 | |
| KR16 R2010 (R) KR16 R2010 Robot | |
| KR20 R1810 (R) KR90r2900 robot | |
| KR210-2 R2700 | |
| KR90-270 R2700 (R) KR90-270 R2700 Robot | |
| T KR280R3080 (R) KR280 R3080 | |
| KR30 60HA (R) KR30_60HA | |
| KR340 R3330 KR340 R3330 | |
| Agilus KR3 R540 Agilus KR3 R540 | |
| KR500 R2830 (R) KR500 R2830 Robot | |
| Agilus KR6 KR10 R700 Agilus KR6 KR10 R700 | |
| Iontec KR30-70 R2100 Iontec KR30 R2100|KR50 R2100|KR70 R2100 | |
| KR90 R2900 rmit (R) KR90r2900 robot_rmit | |
| KR90 R3100 KR90 R3100 | |
| KR90-KR150 R3700 KR90-KR150 R3700 | |
| KR1000 Titan Robot (R) KR1000 Titan Robot | |
| KR100 HA-2 KR100 HA-2 | |
| Agilus KR6-KR10 R1100 (R) Agilus KR6-KR10 R1100 | |
| Cybertech Nano KR10 R1420 Cybertech Nano KR10 R1420 | |
| KR10 R900-2 (R) KR10 R900 | |
| KR120 R1800 (R) KR120 R1800 | |
| Agilus KR6-KR10 R900 (R) Agilus KR6-KR10 R900 | |
| KR90 R2900 (R) KR90r2900 robot | |
| Luna Arm (R) Luna Arm | |
| Luna Arm Extend (R) Luna arm extend. | |
| UR10 (R) UR10 robot | |
| UR16e (R) UR16e robot | |
| UR3 (R) UR3 robot | |
| UR5 (R) UR5 robot |
Tool|ExternalAxis|Others
| ABBTool Convert (ABBToolConvert) ABBTool Convert | |
| Plastic Print Tool (T) FabUnion Plastic Print tool | |
| Plastic Print Tool For XYZAxis (T) FabUnion PlasticPrint Tool For XYZAxis | |
| Mecanum Wheel Demo v2 (MWD) Get the wheel velocity by inputing 8-wheel-car's velocity | |
| Mecanum Wheel Demo v3 (MWD) Get the wheel velocity by inputing 8-wheel-car's target pose | |
| Mecanum Wheel Demo (MWD) Get the wheel velocity by inputing 8-wheel-car's velocity | |
| Forward Kinematics (FK) Get the end pose by forward kinematics | |
| Inverse Kinematics (IK) Get Inverse Kinematics | |
| Compose Custom EAPart (CEAP) Compose Custom External Axis Part | |
| FU Wood EA (FUWEA) FabUnion wood external axis | |
| General Axis Optimization Custom Robot V13In Meter (GAO) General Axis Optimization with coefficient | |
| Num IK6Dv8 (NIK) Numeric IK solver for 6D robot | |
| Num IK7D Joint Value v7 (NIK) Numeric IK solver for 6D robot | |
| Custom6D (C6D) Customize a 6D Robot | |
| Custom7D (C7D) Custom 7D robot | |
| Compose Custom Root (CCR) Compose custom root for robot. | |
| External Axis compose (EAC) External axis of robot | |
| Compose Work Base (B) ComposeWorkBase | |
| Construct4by4Matrix (Nickname) Description | |
| Get Jacobian Matrix From Angle In Degree (GetJ) Get Jacobian Matrix From Angle In Degree | |
| Custom Robot Part (Nickname) Description | |
| Custom ABB2 (Nickname) Description | |
| Custom KUKA2 (Nickname) Description | |
| Deconstruct External Axis (EAx) External axis of robot | |
| Set A4Zero For KUKA (Nickname) Description | |
| Light Plastic Toolhead (T) FabUnion LightPlastic tool | |
| FUMetal Weld Tool (T) FabUnion metal weld tool | |
| Turn Table | |
| Tank Robot Root (Nickname) Description | |
| TJLab Single Axis (A) Tongji University fabrication lab single axis. | |
| Turn Table2Dof | |
| URTool Convert (URToolConvert) URTool Convert | |
| Custom Tool (CustomTool) Custom tool | |
| Compose External Axis V2 (Nickname) Description | |
| EAGroup (EAG) External axis part group | |
| Construct Robot Mesh Group (CRC) Customize robot component for user-defined robot | |
| Robot Dynamics (RobotDynamics) Robot dynamics solver | |
| Robot Arm Dynamics Simulation (DS) Robot arm dynamics simulation | |
| Inverse Dynamics From Commands Get torque or force by inverse dynamics from commands |
03 - Preset
| 100A-270 (R) STEP: 100A-270 | |
| IRB1600 R1200 (R) ABB: IRB1600 R1200 | |
| IRB2600 R165 (R) ABB: IRB2600 R165 | |
| IRB4600 R205 (R) ABB: IRB4600 R205 | |
| IRB4600 R255 (R) ABB: IRB4600 R255 | |
| IRB6650s125 R350 (R) ABB: IRB6650s125 R350 | |
| IRB6650s200 R300 (R) ABB: IRB6650s200 R300 | |
| IRB6700-150/3.20 (R) ABB: IRB6700-150/3.20 | |
| IRB7600-325/3.10 (R) ABB: IRB7600-325/3.10 | |
| LR 10i A (R) Fanuc: LR_10iA | |
| KR100HA2 (R) KUKA: KR100HA2 | |
| KR10R1100 (R) KUKA: KR10R1100 | |
| KR10R1420 (R) KUKA: KR10R1420 | |
| KR270 R2700 (R) KUKA: KR270 R2700 | |
| KR280 R3080 (R) KUKA: KR280 R3080 | |
| KR3 R540 (R) KUKA: KR3 R540 | |
| Agilus KR6 KR10 R900 (R) KUKA: Agilus KR6 KR10 R900 | |
| KR70 R2100 (R) KUKA: KR70 R2100 | |
| KR90 R3700 (R) KUKA: KR90 R3700 | |
| TX2 40 (R) Staubli: TX2_40 |
Communication
| ABBCom File Up Load (Nickname) ABB File UpLoad. | |
| Get ABBPose And Axis Angles | |
| Get ABBControllers (GC) Get the ABB controller | |
| Get Signal ABB (GSABB) Get the signal from IO of ABB | |
| Set Signal ABB (SetSignalABB) SetSignalABB | |
| ABBEGMJoint (Nickname) Description | |
| Http Post (HP) Convert cmd to JSON compressed and send it to server. | |
| RSIJoint (RSI) Description | |
| HTTPDelete (Nickname) Send delete by http | |
| HTTPGet (Nickname) Description | |
| Http Delete (Nickname) Send delete by http | |
| Get IP address list (GetIPList) Get IP address list | |
| Get Socket (GS) Get socket for TCP communication | |
| Get UDP (Nickname) Description | |
| Receive Data By Socket (RS) Receive data by soceket | |
| Send Data By Socket (SS) Send data by socket | |
| UDPReceiver Auto Update (Nickname) UDP Receiver Auto Update. | |
| UDPSender (Nickname) Description |
Command
| Change Vel By Corner (Nickname) Description | |
| Robot Core (Core) Generate offline program file and simulation | |
| Deconstruct Joint Value Group (DJVG) Deconstruct Joint Value Group | |
| Compose Velocity (CmpVel) Compose velocity for move command | |
| Construct Custom Command (CCMD) Construct Custom Command | |
| Line Cmd (LC) Line command | |
| Construct Line Command (LCMD) Construct Line Command | |
| Construct PTP Command (PTPCMD) Construct PTP Command | |
| Robot Check (RobotCheck) Check the robot | |
| Set Dig Out Cmd (SDO) SetDigOutCommand | |
| Stop Cmd (SC) Stop command | |
| Construct Wait Command (WCMD) Construct Wait Command | |
| Example (LE) Load Example | |
| Construct Torque or Force (CTF) Construct Torque or Force | |
| Construct Joint Command (CJC) Construct Joint Command | |
| Collision Test (Nickname) Description |
05 - Customize
| Single line external axis (SL) Single line external axis device | |
| Construct Euler Angle (CEA) Construct Euler Angle | |
| Rotation Convertor (RotationConvertor) Rotation Convertor | |
| Construct Moving Joint (CMJ) Construct Moving Joint | |
| Construc Rotation Joint (Nickname) Description | |
| Construct Robot Link Group (CLG) Customize robot link group for user-defined robot | |
| Construct mass property (CMP) Construct mass property | |
| Make serial robot (MSR) Make serial robots into one serial robot | |
| Construct Offset (Nickname) Description | |
| Custom Robot v6 (Nickname) Description | |
| Robot packge (RP) Make robot with attachments | |
| Construct Robot Link (CRL) Construct Robot Link | |
| Light Plastic Print Tool | |
| Custom tool (CT) Custom tool |
Tech:Wood
| Band Saw Cutting Programmed by HUA CHAI | |
| Chain Saw Slotting Programmed by HUA CHAI | |
| Circular Saw Cutting (CircularSawCutting) Circular Saw CuttingProgrammed by HUA CHAI | |
| Drilling DrillingProgrammed by HUA CHAI | |
| Milling Brep Programmed by HUA CHAI | |
| Milling Hole Programmed by HUA CHAI | |
| Notch Milling (wood) Notch millingProgrammed by HUA CHAI | |
| Surface Equidistant Sub Programmed by HUA CHAI | |
| Surface Structure Line Sub Programmed by HUA CHAI |
Curve
| Add Base (AB) Add the base of model | |
| Arrange Contour (CC) Arrange the contours | |
| Check Angle (CA) check the angle of model | |
| Contour (C) Create contours | |
| Cv Only Horizontal Divide Keep Corner (COHDKC) divide curve only in horizontal level segment and keep corner | |
| First Pt (FP) First point in a curve | |
| Sort Curve (SC) Sort Curve in the Same Level | |
| Total Cut Cv (TCC) Get the cut curve in whole model |
Tech:Wind
| BIConstruct Path (BICP) Provide some kinds of paths for fiber winding.Programmed by ZONGSHENG YU | |
| Branching Path (BP) Construct separate paths for revelant winding points regarding each anchor points.Programmed by ZONGSHENG YU | |
| Construct Winding Path (CWP) Analyse points' position and construct winding paths.Programmed by ZONGSHENG YU | |
| Exterior Path Optimization (EPO) Provide a kind of strategy to make winding path safe.Programmed by ZONGSHENG YU | |
| Group Points (GP) Take some points into one group if they are in the same times of the robot's winding movement.Programmed by ZONGSHENG YU | |
| Interior Path Optimization (IPO) Provide a kind of strategy to make winding path safe.Programmed by ZONGSHENG YU | |
| Output Plane (OPlanes) Points to Planes for winding.Programmed by ZONGSHENG YU | |
| Output Points (OPoints) Resulting points grouped by their revelant bidirectional position.Programmed by ZONGSHENG YU |
Tech:Print
| Customize Rib With Target Curve (Nickname) Description | |
| Optimize A4Axis (OptimizeA4Axis) Optimize the A4 axis value to zero or near zero when the toolhead is not orthogonal | |
| Change Seam By Geo (CSBG) change the seam by geometry | |
| Clean And Close Curve (CCC) clean the small curve and make the curves closed | |
| Tech Print Clean And Close Curve Multiple (TechPrintCleanAndCloseCurveMultiple) clean the small curve and make the curves closed multiple edtion | |
| Create Contour (CC) Create the contour of geometry | |
| Divide By Seg With Length (DBSL) divide curve by segment with given length |
EAxis
| FUxyz No E3Coupling81 (FUxyzNoE3Coupling81) FUxyzNoE3Coupling81 | |
| Default XYZAxis (E) Default XYZAxis | |
| External Axis FUM (EAFUM) External Axis processing for FU master robot | |
| External Axis TJLab (EATJL) External Axis processing for TongJi Laboratory robot | |
| FUXYZAxis FabUnion XYZAxis | |
| FUxyz No E3Coupling (FUxyzNoE3Coupling) FUxyzNoE3Coupling |
02 - Command
| Line command (LCMD) Construct Line command with fixed values | |
| Construct PTJ command (PTJCMD) Construct PTJ command. | |
| Custom text Command (CTXTCMD) Custom text command | |
| Joint Command (JCMD) Joint command | |
| Wait command (WAITCMD) Construct Wait command |
04 - Type
| Arm ABB Format Arm KUKA Format | |
| Arm KUKA Format Generate offline program for Arm KUKA robot. | |
| Arm Step Format Arm Step robot. | |
| Arm UR Format Arm UR Format |
UDP tool
| UDPRemote Receiver (recv) Receive topic message from remote server. Default address is 1.116.216.26 : 5235. Msg received will automatically trigger update. | |
| UDPRemote Sender (send) Send topic message to remote server. Default address is 1.116.216.26 : 5235. |
01 - Core
| Find Bug Test the whole task to find bug. | |
| Robot Simulator |
Mesh
| Export Mesh2File (Nickname) Description |
Misc
| De Licence (Nickname) Description |
Site design © Robin Rodricks.
FURobot and associated data © 2025 FabUnion.
Rhinoceros and Grasshopper are registered trademarks of Robert McNeel & Associates.
Hosted by GitHub