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@@ -24,9 +24,9 @@ Robot Components is a plugin for intuitive robot programming for ABB robots insi
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If you use Rhino 7 or higher you can install Robot Components via the package manager. For other versions, you can download the latest release directly from our [Github release page](https://github.com/RobotComponents/RobotComponents/releases) and from [Food4Rhino](https://www.food4rhino.com/app/robot-components). Unzip the downloaded archive and copy all files in the Grasshopper Components folder (in GH, File > Special Folders > Components Folder). Make sure that all the files are unblocked (right-click on the file and select Properties from the menu. Click Unblock on the General tab). Restart Rhino and you are ready to go!
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In case you want to use the components from the Controller Utility section you additionally have to install [Robot Studio](https://new.abb.com/products/robotics/robotstudio) or the ABB Robot Communication Runtime (you can download it by clicking [here](https://github.com/RobotComponents/RobotComponents/raw/main/Utility/ABB%20Robot%20Communication%20Runtime%202022.3.zip)). The current release is built and tested against the ABB PC SDK version 2022.3 (ABB Robot Communication Runtime 2022.3). We do not guarantee that the Controller Utility components work with older versions of the ABB Robot Communucation Runtime. Please contact us if you have problems with establishing a real-time connection from Grasshopper.
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In case you want to use the components from the Controller Utility section you additionally have to install [Robot Studio](https://new.abb.com/products/robotics/robotstudio) or the ABB Robot Communication Runtime (you can download it by clicking [here](https://github.com/RobotComponents/RobotComponents/raw/main/Utility/ABB%20Robot%20Communication%20Runtime%202022.3.zip)). The current release is built and tested against the ABB PC SDK version 2022.3 (ABB Robot Communication Runtime 2022.3). We do not guarantee that the Controller Utility components work with older versions of the ABB Robot Communication Runtime. Besides that, the components from the Controller Utility section are only supported on Windows operating systems. Please contact us if you have problems with establishing a real-time connection from Grasshopper.
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You can find a collection of example files demonstrating the main features of Robot Components on our [Github page](https://github.com/RobotComponents/RobotComponents) and on [Food4Rhino](https://www.food4rhino.com/app/robot-components).
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You can find a collection of example files demonstrating the main features of Robot Components on our [Github page](https://github.com/RobotComponents/RobotComponents) and [Food4Rhino](https://www.food4rhino.com/app/robot-components).
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For easy sharing of the download link and the documentation (with e.g. students) you can also use our [linktree](https://linktr.ee/RobotComponents).
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@@ -40,29 +40,29 @@ For easy sharing of the download link and the documentation (with e.g. students)
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[**Definitions Components**]({{ site.baseurl }}{% link docs/Definitions/index.md %})**:** These components are used to define robots and robot tools which are needed for [Code Generation]({{ site.baseurl }}{% link docs/Code Generation/index.md %}) and [Simulation]({{ site.baseurl }}{% link docs/Simulation/index.md %}).
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[**Multi Move Components**]({{ site.baseurl }}{% link docs/Multi Move/index.md %})**:** These componets are used to create RAPID programs for Multi Move tasks. Multi Move compononents are an extension of the components in the [Code Generation]({{ site.baseurl }}{% link docs/Code Generation/index.md %}) category and need to be combined with other [Code Generation]({{ site.baseurl }}{% link docs/Code Generation/index.md %}) components to create a Multi Move program.
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[**Multi Move Components**]({{ site.baseurl }}{% link docs/Multi Move/index.md %})**:** These components are used to create RAPID programs for Multi Move tasks. Multi Move components are an extension of the components in the [Code Generation]({{ site.baseurl }}{% link docs/Code Generation/index.md %}) category and need to be combined with other [Code Generation]({{ site.baseurl }}{% link docs/Code Generation/index.md %}) components to create a Multi Move program.
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[**Parameters Components**]({{ site.baseurl }}{% link docs/Parameters/Actions/index.md %})**:** These components are used to maintain and store Data of [Code Generation]({{ site.baseurl }}{% link docs/Code Generation/index.md %}) and [Definitions]({{ site.baseurl }}{% link docs/Definitions/index.md %}) components.
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[**Simulation Components**]({{ site.baseurl }}{% link docs/Simulation/index.md %})**:** These components are used to visually approximate the movement behavior of the robot before running the RAPID program and system modules on an ABB IRC5 robot controller.
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[**Utility Components**]({{ site.baseurl }}{% link docs/Utility/index.md %})**:** These components support other component categories with extra functionality.
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**NOTE:** By selecting **Documentation** from the right-click menu of any robot components component in grasshopper, the corresponding documentation page opens up in the browser.
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**NOTE:** By selecting **Documentation** from the right-click menu of any robot components component in Grasshopper, the corresponding documentation page opens up in the browser.
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# **Credits**
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The plugin is an open source project initiated by the chair of [Experimental and Digital Design and Construction](https://www.uni-kassel.de/fb06/institute/architektur/fachgebiete/experimentelles-und-digitales-entwerfen-und-konstruieren/home) of the University of Kassel. The technical development is executed by the developers and contributors who are listed [here](https://github.com/RobotComponents/RobotComponents/blob/master/AUTHORS.md).
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The plugin is an open source project that was initiated by the chair of [Experimental and Digital Design and Construction](https://www.uni-kassel.de/fb06/institute/architektur/fachgebiete/experimentelles-und-digitales-entwerfen-und-konstruieren/home) of the University of Kassel. The technical development is executed by the developers and contributors who are listed [here](https://github.com/RobotComponents/RobotComponents/blob/master/AUTHORS.md).
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Robot Components uses the ABB PC SDK for real-time connection to ABB Robots, you can find the .dll used in this project here: [ABB developercenter](http://developercenter.robotstudio.com/landing).
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Robot Components uses 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.
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We would like to acknowledge [Jose Luis Garcia del Castillo](https://github.com/garciadelcastillo) and [Vicente Soler](https://github.com/visose) for making their Grasshopper plugins [RobotExMachina](https://github.com/RobotExMachina) and [Robots](https://github.com/visose/Robots) available. Even our approach is different it was helpful for us to see how you implemented certain functionalities and approached certain issues.
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We would like to acknowledge [Jose Luis Garcia del Castillo](https://github.com/garciadelcastillo) and [Vicente Soler](https://github.com/visose) for making their Grasshopper plugins [RobotExMachina](https://github.com/RobotExMachina) and [Robots](https://github.com/visose/Robots) available. Even though our approach is different it was helpful for us to see how you implemented certain functionalities and approached certain issues.
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# **License**
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Copyright (c) 2018-2023[The Robot Components authors and / or their affiliations](https://github.com/RobotComponents/RobotComponents/blob/main/AUTHORS.md)
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Copyright (c) 2018-2024[The Robot Components authors and/or their affiliations](https://github.com/RobotComponents/RobotComponents/blob/main/AUTHORS.md)
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Robot Components is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 3.0 as published by the Free Software Foundation.
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