Robot Workbench/zh-cn



机器人工作台是一个用于模仿工业 Robot 6-Axis 的工具，就像 Kuka. 用它可以完成以下任务：
 * 用机器人和工件设立一个模拟环境
 * 创建和填补轨迹
 * 将一个 CAD 零件的特征分解为轨迹
 * 模拟机器人的运动及其可达性
 * 将轨迹导出为机器人程序文件

你可以从这儿找到例子： Example files 或者去参考 Robot tutorial.

工具
这里提供了设置机器人的主要命令.

机器人
创建和管理六轴机器人的工具


 * [[Image:Robot_CreateRobot.png|30px]] 创建机器人: 在场景中插入一个新机器人
 * [[Image:Robot_Simulate.png|30px]] 模拟轨迹: 打开模拟对话框并进行轨迹模拟
 * [[Image:Robot_Export.png|30px]] 导出轨迹: 导出一个机器人程序文件
 * [[Image:Robot_SetHomePos.png|30px]] 设置起始位置: 设置机器人的起始位置
 * [[Image:Robot_RestoreHomePos.png|30px]] 还原初始位置: 将机器人移动到起始位置

Trajectories
Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.

non parametric trajectories

 * [[Image:Robot_CreateTrajectory.png|30px]] Create a trajectory: Inserts a new empty trajectory-object into the scene
 * [[Image:Robot_SetDefaultOrientation.png|30px]] Set the default orientation: Set the orientation way-points gets created by default
 * [[Image:Robot_SetDefaultValues.png|30px]] Set the default speed parameter: Set the default values for way-point creation
 * [[Image:Robot_InsertWaypoint.png|30px]] Insert a waypoint: Insert a way-point from the current robot position into a trajectory
 * [[Image:Robot_InsertWaypointPre.png|30px]] Insert a waypoint: Insert a way-point from the current mouse position into a trajectory

parametric trajectories

 * [[Image:Robot_Edge2Trac.png|30px]] Create a trajectory out of edges: Insert a new object which decompose edges to a trajectory
 * [[Image:Robot_TrajectoryDressUp.png|30px]] Dress-up a trajectory: Lets you override one or more properties of a trajectory
 * [[Image:Robot_TrajectoryCompound.png|30px]] Trajectory compound: Create a compound out of some single trajectories

Scripting
This section is generated out of: https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py You can use this file directly if you want.

Example how to use the basic robot class Robot6Axis which represents a 6-axis industrial robot. The Robot module is dependent on Part but not on other modules. It works mostly with the basic types Placement, Vector and Matrix. So we need only:

Basic robot stuff
create the robot. If you do not specify another kinematic it becomes a Puma 560

accessing the axis and the Tcp. Axes go from 1-6 and are in degree:

move the first axis of the robot:

the Tcp has changed (forward kinematic)

move the robot back to start position (reverse kinematic):

the same with axis 2:

Waypoints:

generate more. The trajectory always finds automatically a unique name for the waypoints

create a trajectory

see a list of all waypoints:

Working with the document objects
Working with the robot document objects: first create a robot in the active document

Define the visual representation and the kinematic definition (see Robot 6-Axis and VRML Preparation for Robot Simulation for details about that)

start positon of the Axis (only that which differ from 0)

retrieve the Tcp position

move the robot

create an empty Trajectory object in the active document

get the Trajectory

add the actual TCP position of the robot to the trajectory

insert some more Waypoints and the start point at the end again:

Simulation
To be done.....

Exporting the trajectory
The trajectory is exported by Python. That means for every control cabinet type there is a post-processor Python module. Here is in detail the Kuka post-processor described

and that's kind of how it's done:

Tutorials

 * Robot 6-Axis
 * VRML Preparation for Robot Simulation