RSIPI: Robot Sensor Interface - Python Integration

RSIPI is a high-performance, Python-based communication and control system designed for real-time interfacing with KUKA robots using the Robot Sensor Interface (RSI) protocol. It provides both a robust API for developers and a powerful Command Line Interface (CLI) for researchers and engineers who need to monitor, control, and analyse robotic movements in real time.

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🛡️ Safety Notice RSIPI is a powerful tool that directly interfaces with industrial robotic systems. Improper use can lead to dangerous movements, property damage, or personal injury.

⚠️ Safety Guidelines

• Test in Simulation First: Always verify your RSI communication and trajectories using simulation tools before deploying to a live robot.
• Enable Emergency Stops: Ensure all safety hardware (E-Stop, fencing, light curtains) is active and functioning correctly.
• Supervised Operation Only: Run RSIPI only in supervised environments with trained personnel present.
• Limit Movement Ranges: Use KUKA Workspaces or software limits to constrain movement, especially when testing new code.
• Use Logging for Debugging: Avoid debugging while RSI is active; instead, enable CSV logging and review logs post-run.
• Secure Network Configuration: Ensure your RSI network is on a closed, isolated interface to avoid external interference or spoofing.
• Never Rely on RSIPI for Safety: RSIPI is not a safety-rated system. Do not use it in applications where failure could result in harm.

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📄 Description

RSIPI allows users to:

• Communicate with KUKA robots using the RSI XML-based protocol.
• Dynamically update control variables (TCP position, joint angles, I/O, external axes, etc.).
• Log and visualise robot movements with live graphs and static plots.
• Analyse motion data and compare planned vs actual trajectories.
• Parse and inject RSI into KRL programs.
• Simulate robot behaviour using a realistic Echo Server.
• Enforce safety limits and manage emergency stops.

Target Audience

• Researchers working on advanced robotic applications, control algorithms, and feedback systems.
• Engineers developing robotic workflows or automated processes.
• Educators using real robots in coursework or lab environments.
• Students learning about robot control systems and data-driven motion planning.

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📊 Features

• Real-time network communication with KUKA RSI over UDP.
• Structured logging to CSV with British date formatting.
• Background execution and live variable updates.
• Fully-featured Python API for scripting or external integration.
• CLI for interactive control, trajectory planning, and live monitoring.
• Real-time and post-analysis graphing (live TCP, joints, force, acceleration).
• Safety management: emergency stop, limit enforcement, safety override.
• KUKA KRL .src/.dat parsing and RSI injection tools.
• Echo Server and GUI for offline simulation and testing.
• Deviation and force spike alerts during live operation.

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📊 API Overview (rsi_api.py)

Initialization

from src.RSIPI import rsi_api
api = rsi_api.RSIAPI(config_file='examples/RSI_EthernetConfig.xml')

Selected Methods

Method	CLI	API	Description
start_rsi()	✅	✅	Starts RSI communication (non-blocking).
stop_rsi()	✅	✅	Stops RSI communication.
update_variable(path, value)	✅	✅	Dynamically updates a send variable (e.g. RKorr.X).
get_variable(path)	✅	✅	Retrieves the latest value of any variable.
plan_linear_cartesian(start, end, steps)	✅	✅	Create Cartesian paths.
plan_linear_joint(start, end, steps)	✅	✅	Create Joint-space paths.
execute_trajectory(traj, rate)	✅	✅	Execute planned trajectory live.
enable_alerts(True/False)	✅	✅	Enable or disable deviation/force alerts.
start_live_plot(mode)	✅	✅	Live graph position, velocity, force, etc.
generate_plot(csv, type)	✅	✅	Static graphing from CSV files.
export_movement_data(filename)	✅	✅	Export recorded motion as CSV.
parse_krl_to_csv(src, dat, output)	✅	✅	Extract TCP points from KRL programs.
inject_rsi(input, output, config)	✅	✅	Add RSI startup code to a KRL file.

(Full API details available in rsi_api.py.)

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🔧 CLI Overview (rsi_cli.py)

Start the CLI:

python main.py --cli

Selected Commands

Command	Description
start / stop	Start or stop RSI client.
set <var> <value>	Update send variable.
get <var>	Get latest receive variable.
move_cartesian, move_joint	Move robot using planned trajectories.
queue_cartesian, queue_joint	Queue trajectory steps.
execute_queue	Run queued trajectories.
alerts on/off	Enable or disable alerts.
graph show/compare	Plot or compare test runs.
log start/stop/status	Manage CSV logging.
plot <type> <csv>	Static plotting (position, velocity, deviation, etc.).
safety-stop, safety-reset, safety-status	Emergency stop and limit management.
krlparse <src> <dat> <out>	Parse KRL to CSV.
inject_rsi <src> [out] [config]	Inject RSI code into KRL file.

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📃 Example Usage

Update TCP position live

api.start_rsi()
api.update_variable('RKorr.X', 100.0)
api.update_variable('RKorr.Y', 50.0)

Plan and execute a Cartesian move

start_pose = {'X': 0, 'Y': 0, 'Z': 500}
end_pose = {'X': 200, 'Y': 0, 'Z': 500}
traj = api.plan_linear_cartesian(start_pose, end_pose, steps=100)
api.execute_trajectory(traj, rate=0.012)

CLI session sample

> start
> set RKorr.X 150
> move_cartesian X=0,Y=0,Z=500 X=200,Y=0,Z=500 steps=100 rate=0.012
> graph show my_log.csv
> log start
> stop

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📅 Output and Logs

• CSV logs saved to logs/ folder.
• Each log includes British timestamp, sent/received variables.
• Static plots exportable as PNG/PDF.
• Live plots include alert messages and deviation tracking.

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🚀 Getting Started

1. Connect robot and PC via Ethernet.
2. Deploy KUKA RSI program with matching config.
3. Install Python dependencies:

pip install -r requirements.txt

4. Run main.py or import RSIAPI in your Python scripts.

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🔖 Citation

If you use RSIPI in your research, please cite:

@software{rsipi2025,
  author = {RSIPI Development Team},
  title = {RSIPI: Robot Sensor Interface - Python Integration},
  year = {2025},
  url = {https://github.com/your-org/rsipi},
  note = {Accessed: [insert date]}
}

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⚖️ License

RSIPI is licensed under the MIT License.

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🚧 Disclaimer

RSIPI is intended for research and experimental purposes only. Always ensure safe operation with appropriate safety measures in place.