Robot Components is a plugin for intuitive robot programming for ABB robots inside of Rhinoceros Grasshopper. Robot Components offers a wide set of tools to create tool paths, simulate robotic motion and generate RAPID code within Grasshopper. Some of the main features include:

• 30+ predefined ABB robot models
• Possibility to add your own robot models
• Support for external axes (both linear and rotational)
• Possibility to define custom strategies for all external axis values
• Support for work objects (including movable work objects)
• Efficient forward and inverse kinematics
• Possibility to add your own custom code lines
• Real-time connection with IRC5 controllers

I am one of the developers and maintainers of this open-source project that was initiated by EDEK Uni Kassel. The plugin is released on Food4Rhino and the source code is available on GitHub.