Robot Workbench

From FreeCAD Documentation
Revision as of 12:01, 25 September 2009 by Jriegel (talk | contribs)

The robot workbench is tool to simulate industrial grade 6-Axis robots, like e.g. Kuka. Following features are planed and partial already implemented:

  • Visual representation of 6-Axis Robot (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)

Scripting

Example how to use the basic robot class Robot6Axis which represent a 6-Axis industrial robot. The Robot Module is not depended on Part or an other Module. It works only with the basic types Placement, Vector and Matrix. So we need only:

import FreeCAD, Robot

create the robot. If you not specify a other kinematic it becomes a Puma 560

rob = Robot.Robot6Axis()
print rob

accessing the axis and the Tcp. Axis go from 1-6 and are in degrees:

Start = rob.Tcp
print Start
print rob.Axis1

move the first Axis of the robot:

rob.Axis1 = 5.0

the Tcp has changed (forward kinematic)

print rob.Tcp

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

rob.Tcp = Start
print rob.Axis1

the same with axis 2:

rob.Axis2 = 5.0
print rob.Tcp
rob.Tcp = Start
print rob.Axis2

Waypoints:

w = Robot.Waypoint()

del rob,Start

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

App.activeDocument().addObject("Robot::RobotObject","Robot")
App.activeDocument().Robot.RobotVrmlFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.wrl"
App.activeDocument().Robot.Axis2 = -90
App.activeDocument().Robot.Axis3 = 90

retrive the Tcp position

pos = FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp

move the robot

pos.move(App.Vector(-10,0,0))
FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp = pos