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Robots
ADDON. Version 1.6.6. Released on 22-Aug-2023. Provides 31 components. Created by Vicente Soler & others. Features 0 video tutorials.
Robots is a Grasshopper plugin for programming and simulating ABB, KUKA, UR and Staubli robots. Special care is taken to have feature parity between all manufacturers and have them behave as similar as possible. The plugin can also be used as a .NET library to create robot programs through scripting inside Rhino (using Python, C# or VB.NET). Advanced functionality is only exposed through scripting.
Components
| Check collisions (Collisions) Checks for possible collisions. Will test if any object from group A collide with any objects from group B. | |
| Create program (Program) Creates a program, checks for possible issues and fixes common mistakes. | |
| Custom code (Custom) Creates a program using manufacturer specific custom code. This program cannot be simulated | |
| Remote connection (Remote) Upload and run programs to UR or ABB controllers through a network. For ABB controllers you must install the 'ABB Robot Communication Runtime'. | |
| Save program (SaveProg) Saves a program to a text file. | |
| Program simulation (Sim) Rough simulation of the robot program, right click for playback controls | |
| Kinematics (K) Inverse and forward kinematics for a single target, or list of targets when using a robot system with coordinated robots. | |
| Load frame (LoadFrame) Loads a frame from the library. | |
| Load robot system (LoadRobot) Loads a robot system from the library. | |
| Load tool (LoadTool) Loads a tool from the library. | |
| Create frame (Frame) Creates a frame or work plane. | |
| Create speed (Speed) Creates a target speed. | |
| Create target (Target) Creates or modifies a target. Right click for additional inputs. | |
| Create tool (Tool) Creates a tool or end effector. | |
| Deconstruct target (DeTarget) Deconstructs a target. Right click for additional outputs. |
Commands
| Custom command (CustomCmd) Custom command written in the manufacturer specific language | |
| Group command (GroupCmd) Group of commands | |
| Message Sends a text message to the teach pendant | |
| Pulse DO (PulseDO) Send a pulse to a digital output | |
| Set AO (SetAO) Set analog output | |
| Set DO (SetDO) Set digital output | |
| Stop program (Stop) Stops the program until an operator starts it again | |
| Wait Stops the program for a specific amount of time | |
| Wait DI (WaitDI) Stops the program until a digital input is turned on |
Utility
| Deconstruct program targets (DecProgTarg) Exposes the calculated simulation data for all targets. | |
| Degrees to radians (DegToRad) Manufacturer dependent degrees to radians conversion. | |
| From plane (FromPlane) Returns a list of numbers from a plane | |
| Get plane (GetPlane) Get a plane from a point in space and a 3D rotation. The input has to be a list of 6 or 7 numbers. | |
| Simple trail (Trail) Draws a trail behind the TCP. To be used with the simulation component. |
Parameters
| Program parameter (Program) This is a robot program | |
| RobotSystem parameter (RobotSystem) This is a robot system |
Site design © Robin Rodricks.
Robots and associated data © 2025 Vicente Soler & others.
Rhinoceros and Grasshopper are registered trademarks of Robert McNeel & Associates.
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