Tutorials for programming UR robots using URScript files.

If you do not have a UR robot, you can use its simulation by downloading a virtual machine containing the simulation of the robot and the controller. For an e-Series robot, you can download the version 5.12.6 LTS of Polyscope from the following link:

• OFFLINE SIMULATOR - E-SERIES - UR SIM FOR NON LINUX 5.12.6 LTS

The URScript programming manual is available from the following link

• SCRIPT MANUAL - E-SERIES - SW 5.12

URScript is a python-based scripting launguage.

The base frame in Polyscope is located according to the following picture

1. From Main Panel select: Program -> Advanced -> Script
2. Add the script to the Robot Program and select the file containing the instructions

A pose is declared using p before the [] (otherwise it is considered as a list). Example:

pose = p[pos_x, pos_y, pos_z, rotVec_x, rotVec_y, rotVec_z]

Note that the rotation is described using the Rotation Vector notation. If you want to set a desired Roll-Pitch-Yaw angle, please use the converting function:

r = p[pos_x, pos_y, pos_z, rotVec_x, rotVec_y, rotVec_z]