Robot Workbench/pl

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Index

Introduction

The Robot Workbench is a tool to simulate a standard 6-axis industrial robot, like Kuka.

You can do the following tasks:

• Set up a simulation environment with a robot and work pieces.
• Create and fill up movement trajectories.
• Decompose features of a CAD part to a trajectory.
• Simulate the robot movement and reaching distance.
• Export the trajectory to a robot program file.

To get started try the Robot tutorial, and see the programming interface in the RobotExample.py example file.

Tools

Here the principal commands you can use to create a robot set-up.

Robots

The tools to create and manage the 6-Axis robots

• Create a robot: Insert a new robot into the scene
• Simulate a trajectory: Opens the simulation dialog and lets you simulate
• Export a trajectory: Export a robot program file
• Set home position: Set the home position of a robot
• Restore home position: move the robot to its home position

Trajectories

Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.

Non parametric trajectories

• Create a trajectory: Inserts a new empty trajectory-object into the scene
• Set the default orientation: Set the orientation way-points gets created by default
• Set the default speed parameter: Set the default values for way-point creation
• Insert a waypoint: Insert a way-point from the current robot position into a trajectory
• Insert a waypoint preselected: Insert a way-point from the current mouse position into a trajectory

Parametric trajectories

• Create a trajectory out of edges: Insert a new object which decompose edges to a trajectory
• Dress-up a trajectory: Lets you override one or more properties of a trajectory
• Trajectory compound: Create a compound out of some single trajectories

Scripting

See the Robot API example for a description of the functions used to model the robot displacements.

Tutorials

• Robot 6-Axis
• VRML Preparation for Robot Simulation

Środowisko pracy Inżynieria wsteczna poprzedni:

następny: Środowisko pracy Ship

Spis treści

Robot

• Robots: Create a robot, Simulate, Export, Set home position, Restore home position

• Trajectories, non parametric: Create a trajectory, Set default orientation, Set default values, Insert waypoint, Insert waypoint (mouse)

• Trajectories, parametric: Create a trajectory from edges, Dress-up trajectory, Trajectory compound

User documentation

• Installation: Linux/Unix, Windows, Mac; Getting started
• Basics: About FreeCAD, Workbenches, Preferences, Document structure, Interface Customization, Properties, Mouse Model; Tutorials
• Workbenches: Std Base; Arch, Draft, FEM, Image, Inspection, Mesh, OpenSCAD, Part, PartDesign, Path, Plot, Points, Raytracing, Reverse Engineering, Robot, Ship, Sketcher, Spreadsheet, Start, Surface workbench, TechDraw, Test Framework, Web

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• Scripting: Introduction to Python, FreeCAD scripting tutorial, FreeCAD Scripting Basics, How to install macros, Gui Command, Units Modules: Builtin modules, Workbench creation, Installing more workbenches Meshes: Mesh Scripting, Mesh Module Parts: The Part Module, Topological data scripting, PythonOCC, Mesh to Part Coin scenegraph: The Coin/Inventor scenegraph, Pivy Qt interface: PySide, Using the FreeCAD GUI, Dialog creation Parametric objects: Scripted objects Other: Code snippets, Line drawing function, Embedding FreeCAD, FreeCAD vector math library, Power users hub, Python, Macros, FreeCAD Scripting Basics, Topological data scripting

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• Deprecated workbenches: Complete, Drawing