diff --git a/ur10_control.py b/ur10_control.py
new file mode 100644
index 0000000..235d1bb
--- /dev/null
+++ b/ur10_control.py
@@ -0,0 +1,118 @@
+from urx import Robot
+import time
+
+# Created by Coder Shiyar | https://codershiyar.com 
+# Netherlands Kurdistan | 25, 
+def connect_to_robot(robot_ip):
+    """
+    Connects to the UR10 robot.
+
+    Parameters:
+        robot_ip (str): The IP address of the robot.
+
+    Returns:
+        Robot: The connected robot object.
+    """
+    robot = Robot(robot_ip)
+    return robot
+
+def move_to_position(robot, target_pose, acceleration=0.5, velocity=0.5):
+    """
+    Moves the robot to a specified position.
+
+    Parameters:
+        robot (Robot): The connected robot object.
+        target_pose (tuple): Target position and orientation (X, Y, Z, RX, RY, RZ).
+        acceleration (float): Acceleration value for the movement (default: 0.5).
+        velocity (float): Velocity value for the movement (default: 0.5).
+    """
+    robot.movej(target_pose, acc=acceleration, vel=velocity)
+
+def stop_robot(robot):
+    """
+    Stops the movement of the robot.
+
+    Parameters:
+        robot (Robot): The connected robot object.
+    """
+    robot.stopl()
+
+def disconnect_robot(robot):
+    """
+    Disconnects from the robot.
+
+    Parameters:
+        robot (Robot): The connected robot object.
+    """
+    robot.close()
+
+def rotate_robot(robot, rx_offset, ry_offset, acceleration=0.5, velocity=0.5):
+    """
+    Rotates the robot around its fixed position by adjusting RX and RY angles.
+
+    Parameters:
+        robot (Robot): The connected robot object.
+        rx_offset (float): Offset value for RX angle (in radians).
+        ry_offset (float): Offset value for RY angle (in radians).
+        acceleration (float): Acceleration value for the movement (default: 0.5).
+        velocity (float): Velocity value for the movement (default: 0.5).
+    """
+    current_pose = robot.getl()
+    new_orientation = (current_pose[3], current_pose[4] + rx_offset, current_pose[5] + ry_offset)
+    robot.movel(current_pose[0:3] + new_orientation, acc=acceleration, vel=velocity)
+
+if __name__ == "__main__":
+    # Example usage:
+    robot_ip_address = "192.168.1.100"  # Replace with the actual IP address of your UR10 robot
+
+    # Connect to the robot
+    ur10_robot = connect_to_robot(robot_ip_address)
+
+    # Example target position (X, Y, Z, RX, RY, RZ)
+    target_position = (0.5, 0.5, 0.5, 0, 0, 0)
+
+    # Move to the target position
+    move_to_position(ur10_robot, target_position)
+
+    # Pause for safety
+    time.sleep(2)
+
+    # Stop the robot
+    stop_robot(ur10_robot)
+
+    # Rotate the robot around its fixed position by adjusting RX and RY angles
+    rotate_robot(ur10_robot, rx_offset=0.1, ry_offset=0.1)
+
+    # Pause for safety
+    time.sleep(2)
+
+    # Stop the robot
+    stop_robot(ur10_robot)
+
+    # Disconnect from the robot
+    disconnect_robot(ur10_robot)
+
+
+
+
+# Simple example to move robot to the target position.
+
+# from urx import Robot
+
+# def main(robot_ip):
+#     # Connect to the robot
+#     robot = Robot(robot_ip)
+
+#     # Set a target pose (position and orientation)
+#     target_pose = (0.5, 0.5, 0.5, 0, 0, 0)  # Example target pose (X, Y, Z, RX, RY, RZ)
+
+#     # Move to the target pose
+#     robot.movej(target_pose, acc=0.5, vel=0.5)  # MoveJ command (joint movement)
+
+#     # Close the connection
+#     robot.close()
+
+# if __name__ == "__main__":
+#     # Specify the IP address of your UR10 robot
+#     robot_ip_address = "192.168.1.100"  # Example IP address, replace with your robot's IP
+#     main(robot_ip_address)