---

www.littlebluerobot.com

---

• Kuka CrossComm in C#

A partial re-implementation of the old Kuka VB6 CrossComm class in C#.
[download]

Example usage in C#:

public class KukaInterface
{
 private CrossComm cross;
 public KukaInterface()
 {
  cross = new CrossComm();
  cross.Init();
  cross.ConnectToCross("MyClient");
 }
}

---

• Kuka Frame Utility Library

An evolving library of frame manipulation utilities for Kuka KRC2 robots
[download framelib.src] [download framelib.dat]

Currently, there are only 2 exported functions

• MakeFrame() : Create a frame based on an origin point, a point on the x-axis, and a third point on the xy-plane
• Interpolate() : Create a frame that is interpolated between a start and and end frame

---