EPICS support module for controlling robotic arms from Universal Robots.
- Access to large number of robot commands and status information
- Control individual joints and end-effector position
- Define joint or Cartesian space waypoints with associated waypoint actions in EPICS PVs
- Define paths to move through a series of waypoints
- GUIs in MEDM, caQtDM, and CSS-Phoebus
- Supports all e-Series arms and CB-Series from CB3/CB3.1 software 3.3
Full build instructions, IOC integration, usage guides, and PV reference: https://epics-modules.github.io/urRobot/
Copyright (c) 2026 UChicago Argonne, LLC. See LICENSE for details.