RoboDK API

The RoboDK API allows you to program industrial robot arms, create simulations, and generate vendor-specific programs using various programming languages. It serves as a universal alternative to vendor-specific programming languages, enabling offline programming and complex simulations (e.g., machining, 3D printing, pick and place) in a high-level language.

Supported languages include:

• Python
• JavaScript/TypeScript (Node.js)
• C#
• Matlab
• C++
• Visual Basic

Note: The RoboDK API is distinct from the RoboDK Plug-In interface.

The robodk package is organized into several specialized modules:

• robolink: The core link between RoboDK and Python. Used to retrieve items from the RoboDK item tree (robots, reference frames, tools, objects, etc.) as Item objects.
• robomath: A robotics toolbox for matrix operations, projections, timers, and other mathematical operations.
• robodialogs: A toolbox for UI dialogs, such as file open/save dialogs and message prompts.
• robofileio: A toolbox for file operations, including file properties, CSV handling, and FTP.
• roboapps: A toolbox for RoboDK Apps, allowing you to create and load custom applications.

The Mat class represents a 4x4 matrix, which is used to define a pose in RoboDK. It is a subclass of QMatrix4x4. You can use it to perform transformations such as rotation and translation, and to extract Euler angles.

// Example of creating a pose relative to an existing one
Mat pose_i(pose_ref);
pose_i.rotate(angle, 0, 0, 1.0);
pose_i.translate(size, 0, 0);
pose_i.rotate(-angle, 0, 0, 1.0);

// Extracting Euler angles (X, Y, Z, W, P, R)
double xyzwpr[6];
pose_i.ToXYZRPW(xyzwpr);

The C API implements a subset of the full RoboDK API. It follows these structural patterns compared to the C++ API:

1. Method Naming: Class methods are prefixed with the class name in uppercase, followed by an underscore and the function name (e.g., RoboDK_getItem() instead of RoboDK::getItem()).
2. Data Members: Class data members are accessed via structs rather than class properties.
3. First Parameter: Every API function call requires the first parameter to be a pointer to the structure representing the data for that specific class (e.g., a pointer to RoboDK_t or Item_t).
4. Memory Management: For the main connection structure RoboDK_t, the pointer must remain valid for the entire duration of the API usage, as all items created by the API maintain a copy of its location.

The API is built around two primary classes that mirror the Python API structure:

• Robolink: The main interface class used to connect to RoboDK. You use an instance of this class to retrieve items from the RoboDK Station Tree.
• RobolinkItem: Represents a specific object (robot, tool, target, frame, etc.) within the RoboDK Station Tree. Once you have a RobolinkItem, you can perform operations on it, such as moving the robot, setting poses, or retrieving child items.

For detailed documentation within MATLAB, use the doc command:

• doc Robolink
• doc RobolinkItem

The same scripts used for simulation can be used for offline programming. By using Post Processors, the API automatically generates a program compatible with specific robot controllers to reproduce the simulated movements on the actual hardware.

RoboDK supports a wide range of controllers, including:

• ABB (RAPID IRC5, RAPID S4C)
• Fanuc (R30iA, R30iA_Arc, RJ3)
• KUKA (KRC2, KRC4, IIWA)
• Universal Robots (UR, URP, MoveP)
• Staubli (VAL3, S6)
• Motoman/Yaskawa (Inform II/III)
• ...and many others.

Macros (found in the Macros folder) are Python-based examples that typically require adjustments to integrate with your specific project. You can use them in two ways:

1. Add to RoboDK Station: Run them directly within the RoboDK interface to automate tasks or demonstrate patterns.
2. External Python Environment: Import and adapt the logic into your own standalone Python applications.

The API is organized into several key modules that provide the interface to the RoboDK software and robotics capabilities:

• robolink module: Acts as the primary link to the RoboDK software instance.
• Item module: Provides access to any item in the RoboDK item tree. Items are represented by the Item object and can include robots, reference frames, tools, objects, or specific projects.
• robodk module: A robotics toolbox for pose operations, inspired by Peter Corke's Robotics Toolbox.