Robot Components v3.0.1

• Fixed a bug in the Inverse Kinematics and Path generator component. Components could raise an error after multiple run counts.
• Fixed a bug in the generic OPW kinematics solver. The solution was not correct if the lateral offset b was unequal to zero.

Please use the Package Manager to install Robot Components.

Robot Components v3.0.0

Disclaimer

This release contains breaking changes in both the API and Grasshopper plugin. Old files may not function anymore and need to be updated. We tried to keep the changes to existing Grasshopper files to a minimum. Breaking changes are, but are not limited to:

• Parameters that were internalized with v2 might not load correctly with v3.
• Dropped the support for Rhino 6. Use Rhino 7 or higher.

A detailed overview of all the changes:

• Replaced the ToRAPIDDeclaration(RAPIDGenerator rapidGenerator) and ToRAPIDInstruction(RAPIDGenerator rapidGenerator)for one method ToRAPIDGenerator(RAPIDGenerator rapidGenerator).
• Refactored the path generator, RAPID generator, forward kinematics and inverse kinematics class. The actions, joint positions and movements needed for calculations are passed through the methods and not via the constructors and properties anymore.
• Cleanup of several classes. As a consequence, several methods and properties are removed, mainly from the Robot Tool and Work Object class.
• Added the CRB15000-10/1.52 (GoFa 10) and CRB15000-12/1.27 (GoFa 12) robot presets. API only since the inverse kinematics solver has not been implemented yet.
• Changed the access level of most of the utility and helper methods of the GH project to internal use only.
• Changed the Action abstract class to an IAction interface.
• Changed the External Axis abstract class to an IExternalAxis interface.
• Updated the ABB PC SDK to version 2024.1.
• Removed the obsolete classes, methods and properties from the API.
• Removed the separate robot preset components.
• Replaced the Windows forms for Eto forms.
• Added the offset wrist kinematics parameter A3 as a property to the robot class.
• Added a check for shoulder singularities to the inverse kinematics solver.
• Added the Get Axis Planes from Kinematics Parameters component.
• Added the Get Kinematics Parameters component.
• Added the Path Acceleration Limitation component.
• Added the Acceleration Set component.
• Added the Velocity Set component.

Please use the Package Manager to install Robot Components.

Robot Components v2.2.2

• Fixes a bug in the generic OPW kinematics solver.

If you use Rhino 7 or higher, please use the Package Manager to install Robot Components.

Robot Components v2.2.1

• Fixes a serialization issue in the Load Data, Robot Tool and Robot parameter.

If you use Rhino 7 or higher, please use the Package Manager to install Robot Components.

Robot Components v2.2.0

• Added the MoveC instruction to the Move component.
• Added the Circle Path Mode component.
• Added the Pulse Digital Output component.
• Added the Load Data component. Changed the Robot Tool component according to it.
• Added the Configuration Data component. Changed the Robot Target component according to it.
• Added methods to parse a RAPID data string to a declaration instance.
• Added the IDeclaration interface to the load, tool and work object data classes.
• Added cast to Vector to the External Rotational Axis parameter.
• Added cast to Point and Vector to the Robot Tool parameter.
• Added cast from RAPID data string to all declaration parameters.
• Added cast from point to the Robot Target and Target parameter.
• Added the In Position input parameter to the Wait for Time component.
• Added the TimeFlag property to the WaitDI class.
• Added the Delay and Sync property to the SetDigitalOutput class
• Renamed the DigitalOutput class to SetDigitalOutput. The old class is made obsolete.
• Renamed the AnalogOutput class to SetAnalogOutput. The old class is made obsolete.

If you use Rhino 7 or 8 BETA, please use the Package Manager to install Robot Components.

Robot Components v2.1.1

• Improved the status and log messages of the controller utility components.
• Improved the interpolation of linear move instructions.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

Robot Components v2.1.0

• Implemented the OPW kinematics solver as described in the paper 'An Analytical Solution of the Inverse Kinematics Problem of Industrial Serial Manipulators with an Ortho-parallel Basis and a Spherical Wrist' by Mathias Brandstötter, Arthur Angerer, and Michael Hofbaur.
• Added the OPW kinematics parameters C1, C2, C3, C4, A1, A2 and B to the Robot class.
• Added the WristOffset property to the Robot class.
• Added a check for wrist singularities to the Path Generator.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

Robot Comonents v2.0.5

• Added a check for elbow singularities to the InverseKinematics class. This improves the pose of the robot in Grasshopper in case there is an elbow singularity.
• Added the ElbowLength, LowerArmLength and UpperArmLength properties to the Robot class.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

Robot Components v2.0.4

• Fixed an issue with uploading modules to OmniCore controllers with RobotWare 7.
• Changed the remote directory path from RAPID to Robot Components/temp.
• Changed the axis limits of the ABB GoFa CRB15000 robot preset.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

Robot Components v2.0.3

• Fixed an issue with uploading modules to controllers with RobotWare 7.

This version is a pre-release that is only published on GitHub.