Robot project

This is the project article for the Robot project. It follows the rules of the | Getting things done process. The projects are collected in the Development roadmap.

Purpose and principles
This project should lay down the principal technologies for a realistic robot simulation in FreeCAD. In the first step it targets the standard 6-axis industrial robot.

Outcome
Robot simulation



Libs in field

 * OROCOS portable C++ libraries for advanced machine and robot control
 * ROBOOP A robotics object oriented package in C++
 * Beremiz an OpenSource PLC.

Standards for communication

 * OPC UA a machine to machine communication protocol for industrial automation (PLC)
 * German initiative to improve the accuracy of robot controllers and optimize offline robot programming
 * Realistic Robot Simulation (RRS) RRS-2, Virtual Robot Controller (VRC) Interface

Middleware for comunication

 * D-Bus a software bus, an inter-process communication (IPC), and a remote procedure call (RPC) mechanism that allows communication between multiple computer programs
 * CORBA enables collaboration between systems on different operating systems, programming languages, and computing hardware

Commercial products in that field

 * Visual Components
 * Delmia
 * KUKA Sim

Knowledge

 * Kinematic definition --> link outdated!!!
 * Denavit–Hartenberg parameters parameters associated with a particular convention for attaching reference frames to the links of robot manipulator
 * Roboter VRML modele --> link outdated!!!

Organizing

 * Visual representation of 6-Axis robots (done)
 * Forward and inverse kinematic calculation of arbitrary robots (done)
 * RobotLib, dynamic readably robot types (work in progress)
 * Trajectory simulation (work in progress)
 * collision simulation
 * detection of configuration changes and singularities
 * time estimation
 * used volume (planed)
 * Post processor for Kuka robots (work in progress)
 * Process and work cell control (planed)
 * Movie making out of simulation (planed)

Next actions

 * Trajectory and Waypoint management.