Robot 6-Axis

This Article is about bringing a Standard 6-Axis industry robot into FreeCAD for simulation

The description follows the Denavit-Hartenberg Parameter system, as also described in John J. Craigs book "Introduction to Robotics".

Example Kuka

The Kuka KR-16

Kinematic

3D applications

Segment	Parameter	Description
		Base konfiguration
	Omega1 = q1 d1 = 675 mm a1 = 260 mm Alpha1 = −90°	Segment 1
	Omega2 = q2 - 90° d2 = 0 mm a2 = 680 mm Alpha3 = 0°	Segment 2
	Omega3 = q3 d3 = 0 mm a3 = 0 mm Alpha3 = 90°	Segment 3