Robot tutorial/es

Este tutorial te mostrará cómo utilizar el Entorno de simulación de Robots para simular la configuración de una célula de un robot.

Before you begin
This tutorial is written for FreeCAD Version 0.16.6703 or higher. So if you don't have FreeCAD on your computer go to the Download page and do the installation.

This tutorial is targeting on the use of industrial robots and not mobile or service robots (see here).

Setting up the scene

 * 1) Switch to the Robot Workbench
 * 2) Create a new document by choosing →  from the top menu
 * 3) Insert a Kuka IR500 robot into the scene by choosing →  →  from the top menu
 * 4) Change to axonometric view by clicking on [[Image:View-axometric.svg|32px]]
 * 5) Zoom to fit all by clicking on [[Image:View-zoom-all.svg|32px]]
 * 6) Save your file ...

Setting up a trajectory

 * 1) Switch to the Robot Workbench
 * 2) Activate the model-tab in the tree view by clicking on it
 * 3) Create a new trajectory by clicking on [[Image:Robot_CreateTrajectory.png]]
 * 4) Select the robot in the tree view
 * 5) Set home position for robot by clicking on [[Image:Robot_SetHomePos.png|32px]]
 * 6) Switch to the Task Panel
 * 7) By using the sliders change robot position
 * 8) When robot and trajectory are selected in tree view clicking on [[Image:Robot_InsertWaypoint.png]] will insert the way-point in the trajectory
 * 9) Each way-point is shown with a yellow cross, the waypoints are connected with orange lines
 * 10) Define at least three different way points and insert them in the trajectory

Simulating robot movement

 * 1) Select robot and trajectory in tree view
 * 2) Select simulation by clicking on [[Image:Robot_Simulate.png|32px]]
 * 3) Click on Play-Button
 * 4) Watch simulation