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Universal Robots Communication SDK

UnderAutomation Universal Robots communication SDK

NuGet .NET Framework .NET Standard .NET Core .NET Versions

🤖 Effortlessly Communicate with Universal Robots

The Universal Robots SDK enables seamless integration with Universal Robots for automation, data exchange, and remote control. Ideal for industrial automation, research, and advanced robotics applications.

🔗 More Information: https://underautomation.com/universal-robots
🔗 Also available for 🟨 LabVIEW & 🐍 Python & 🧊 Unity

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🚀 TL;DR (Too Long; Didn’t Read)

✔️ Full RTDE Support – Read & write at up to 500Hz
✔️ Send URScript Commands – Control robots in real-time
✔️ Dashboard Server + REST API – Manage power, programs, and states
✔️ Secure Connections – SSH & SFTP support
✔️ Forward & Inverse kinematics
✔️ Multi-Platform – Works on Windows, Linux, and macOS
✔️ Commercial License – Deploy with no royalties

📹 Watch Introduction Video

Universal.Robots.communication.SDK.mp4

📥 Download Example Applications

Explore the Universal Robots SDK with fully functional example applications and precompiled binaries for various platforms. See Github releases

🔹 Windows Forms Application (Full Feature Showcase)

A Windows Forms application demonstrating all the features of the library.

📌 Download: 📥 UnderAutomation.UniversalRobots.Showcase.Forms.exe

UnderAutomation.UniversalRobots.Showcase.Console

🔹 Console Applications (Multi-Platform)

Precompiled console applications showcasing compilation for multiple operating systems.

📌 Downloads:

UnderAutomation.UniversalRobots.Showcase.Console

OS Architecture Download
🐧 Linux ARM 📥 Download
🐧 Linux x64 📥 Download
🍏 macOS ARM64 📥 Download
🍏 macOS x64 📥 Download
🖥 Windows x64 📥 Download
🖥 Windows x86 📥 Download

📌 Features

🔹 Real-Time Data Exchange (RTDE)

Communicate with your robot at 500Hz, read live data, and control its behavior.

var robot = new UR();

var param = new ConnectParameters("192.168.0.1");

// Enable RTDE
param.Rtde.Enable = true;

// Exchange data at 500Hz
param.Rtde.Frequency = 500;

// Select data you want to write in robot controller
param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput0);
param.Rtde.InputSetup.Add(RtdeInputData.InputIntRegisters, 0);

// Select data you want the robot to send
param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

// Connect to robot
robot.Connect(param);

// Be notified at 500Hz when data is received
robot.Rtde.OutputDataReceived += Rtde_OutputDataReceived;

// Write input values in robot
var inputValues = new RtdeInputValues();
inputValues.StandardAnalogOutput0 = 0.2;
inputValues.InputIntRegisters.X0 = 12;
robot.Rtde.WriteInputs(inputValues);

🔹 Primary Interface

Send URScript commands and monitor robot state at 10Hz.

// Send script
robot.PrimaryInterface.Script.Send("movej([-1.5,-1.5,-2,-0.5,1.8,0], a=1.4, v=1.05)");

// Get data
double x = robot.PrimaryInterface.CartesianInfo.TCPOffsetX;
double shoulderSpeed = robot.PrimaryInterface.JointData.Shoulder.ActualSpeed;

// Read program variables
GlobalVariable myVar = robot.PrimaryInterface.GlobalVariables.GetByName("myVar");
GlobalVariable[] variables =  robot.PrimaryInterface.GlobalVariables.GetAll();

🔹 Remote Robot Control

Manage power, brakes, program execution, and more.

// For cobots with Polyscope
robot.Dashboard.PowerOn();
robot.Dashboard.ReleaseBrake();
robot.Dashboard.LoadProgram("prg1.urp");
robot.Dashboard.Play();

// For robots with Polyscope X
robot.Rest.PowerOn();
robot.Rest.ReleaseBrake();
robot.Rest.LoadProgram("prg1.urp");
robot.Rest.Play();

🔹 Inverse Kinematics - Forward Kinematics

Calculates joint positions corresponding to a cartesian position and vice versa. Uses a purely algebraic and optimized algorithm.

// Get default DH parameters for UR3e robot model²
IUrDhParameters dhParameters = KinematicsUtils.GetDhParametersFromModel(RobotModelsExtended.UR3e);

// Calculate forward kinematics for given joint angles in radians
KinematicsResult fkResult = KinematicsUtils.ForwardKinematics(new double[] { 0, -1.57, 1.57, 0, 0, 0 }, dhParameters);

// Calculate inverse kinematics for given cartesian pose
var matrix = vectorPose.FromRotationVectorTo4x4Matrix();
double[][] ikSolutions = KinematicsUtils.InverseKinematics(matrix, dhParameters);

🔹 XML-RPC – Call .NET Functions from URScript

Enable remote function calls from your robot program.

rpc := rpc_factory("xmlrpc", "http://192.168.0.10:50000")
answer := rpc.GetPose(100)
// Answer sent to the robot
robot.XmlRpc.XmlRpcServerRequest += (o, request) =>
  {
    if(request.MethodName == "GetPose") request.Answer = new Pose(request.Arguments[0], 200, 100, 0, 0, 0);
  };

🔹 Socket Communication

Allow robots to send and receive custom data via sockets.

robot.SocketCommunication.SocketWrite("Hello, Robot!");
robot.SocketCommunication.SocketRequest += (sender, e) => Console.WriteLine(e.Message);

🔹 Secure File Transfer (SFTP)

Upload, download, and manage files securely on your robot.

robot.Sftp.UploadFile(content, "/home/ur/ursim/programs/my-program.urp");
robot.Sftp.Delete("/home/ur/ursim/programs/old-program.urp");

🔹 SSH – Run Terminal Commands

Execute shell commands remotely.

robot.Ssh.RunCommand("echo 'Hello' > /home/ur/Desktop/NewFile.txt");

🛠 Installation

1️⃣ Get the SDK

Choose the installation method that works best for you:

Method NuGet (Recommended) Direct Download
How to Install Install via NuGet. See on Nuget Download and reference the DLL manually
dotnet add package UnderAutomation.UniversalRobots 📥 Download ZIP

2️⃣ Reference the SDK in Your Code

using UnderAutomation.UniversalRobots;

3️⃣ Connect to Your Robot

var robot = new UR();
robot.Connect(new ConnectParameters("192.168.0.1"));

🔍 Compatibility

✅ Supported Robots: UR3, UR5, UR10, UR16, UR20, UR30, CB-Series, e-Series, Polyscope, Polyscope X
✅ Operating Systems: Windows, Linux, macOS
✅ .NET Versions: .NET Framework (≥3.5), .NET Standard, .NET Core, .NET 5/6/8/9

📢 Contributing

We welcome contributions! Feel free to:

  • Report issues via GitHub Issues
  • Submit pull requests with improvements
  • Share feedback & feature requests

📜 License

⚠️ This SDK requires a commercial license.
🔗 Learn more: UnderAutomation Licensing

📬 Need Help?

If you have any questions or need support: