Rhino + Grasshopper + PRC

Has anyone here successfully used the PRC plugin to control a Kuka robot arm? I have been trying for over 2 weeks to understand the process and I haven’t gotten very far at all. If someone out there has any documentation or experience with this program I’d sure like to hear from you.

I have done a lot of CNC machining using Solidworks models and Cut3D, so I have a good knowledge of traditional CNC machining.

I have talked very briefly with the people who wrote the PRC plugin…there is no user manual available, so I’ve tried to join the Association for Robots in Architecture to gain access to their support network, but they aren’t answering.