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

 * OROCOSlibs for inverse kinematic
 * ROBOOP targets directly to robot simulation, but seems inactive.
 * Beremiz a OpenSource PLC.

Standards for communication

 * OPC UA to communicate with PLCs
 * RRS-II German standard for robot simulation communication

Middleware for comunication

 * D-Bus
 * CORBA

Commercial products in that field

 * Visual Components
 * Delmia
 * KUKA Sim

Knowledge

 * Kinematic definition
 * Roboter VRML modele

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.