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[[Image:KukaKR16FreeCAD.jpg|right|400px]]
{{docnav|[[Reverse Engineering Workbench|Reverse Engineering Workbench]]|[[Ship Workbench|Ship Workbench]]|IconL=ReverseEngineeringWorkbench.svg|IconR=Workbench_Ship.svg
}}

[[Image:Workbench_Robot.svg|64px]]

== Introduction ==


<div class="mw-translate-fuzzy">
The robot workbench is a tool to simulate industrial grade [[6-Axis Robot]]s, like e.g. [http://kuka.com/ Kuka].
Robot arbetsbänken är ett verktyg för simulering av 6-axliga industrirobotar, som t.ex. [http://kuka.com/ Kuka].
You can do following tasks:
Denna arbetsbänk är ett pågående arbete för att implementera ett off-line programmeringsverktyg för [[Robot_6-Axis/sv|Robot_6-Axis]] industrirobotar i FreeCAD.
* set up a simulation environment with a robot and work pieces
You can do following tasks:
* create and fill up trajectories
* set up a simulation environment with a robot and work pieces
* create and fill up trajectories
* decompose features of an CAD part to a trajectory
* decompose features of an CAD part to a trajectory
* simulate the robot movement and reachability
* simulate the robot movement and reachability
* export the trajectory to a robot program file
* export the trajectory to a robot program file
</div>


You can do the following tasks:
Du kan hitta ett exempel här: http://www.freecad-project.de/svn/ExampleData/Examples/RobotSimulation/
* 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.

<div class="mw-translate-fuzzy">
Du kan hitta ett exempel här: [https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py Example files] or try the [[Robot tutorial]].
</div>

{{TOCright}}
[[Image:Robot_Workbench_example.jpg|600px]]


== Tools ==
== Tools ==
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* [[Image:Robot_CreateRobot.png|30px]] [[Robot_CreateRobot|Create a robot]]: Insert a new robot into the scene
* [[Image:Robot_CreateRobot.png|30px]] [[Robot_CreateRobot|Create a robot]]: Insert a new robot into the scene
* [[Image:Robot_Simulate.png|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and let you simulate
* [[Image:Robot_Simulate.png|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and lets you simulate
* [[Image:Robot_Export.png|30px]] [[Robot_Export|Export a trajectory]]: Export a robot program file
* [[Image:Robot_Export.png|30px]] [[Robot_Export|Export a trajectory]]: Export a robot program file
* [[Image:Robot_SetHomePos.png|30px]] [[Robot_SetHomePos|Set home positon]]: Set the home position of an robot
* [[Image:Robot_SetHomePos.png|30px]] [[Robot_SetHomePos|Set home position]]: Set the home position of a robot
* [[Image:Robot_RestoreHomePos.png|30px]] [[Robot_RestoreHomePos|Restore home positon]]: move the robot to its home position
* [[Image:Robot_RestoreHomePos.png|30px]] [[Robot_RestoreHomePos|Restore home position]]: move the robot to its home position


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


==== non parametric ====
==== Non parametric trajectories ====
* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Insert a new robot into the scene
* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene
* [[Image:Robot_SetDefaultOrientation.png|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default
* [[Image:Robot_SetDefaultOrientation.png|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default
* [[Image:Robot_SetDefaultValues.png|30px]] [[Robot_SetDefaultValues|Set the default speed parameter]]: set the defaults for way-point creation
* [[Image:Robot_SetDefaultValues.png|30px]] [[Robot_SetDefaultValues|Set the default speed parameter]]: Set the default values for way-point creation
* [[Image:Robot_InsertWaypoint.png|30px]] [[Robot_InsertWaypoint|Insert a waypoint]]: Insert a way-point from the current robot position into a trajectory
* [[Image:Robot_InsertWaypoint.png|30px]] [[Robot_InsertWaypoint|Insert a waypoint]]: Insert a way-point from the current robot position into a trajectory
* [[Image:Robot_InsertWaypointPre.png|30px]] [[Robot_InsertWaypointPre|Insert a waypoint]]: Insert a way-point from the current mouse position into a trajectory
* [[Image:Robot_InsertWaypointPre.png|30px]] [[Robot_InsertWaypointPre|Insert a waypoint preselected]]: Insert a way-point from the current mouse position into a trajectory


==== parametric ====
==== Parametric trajectories ====
* [[Image:Robot_Edge2Trac.png|30px]] [[Robot_Edge2Trac|Create a trajectory out of edges]]: Insert a new object which decompose edges to a trajectory
* [[Image:Robot_Edge2Trac.png|30px]] [[Robot_Edge2Trac|Create a trajectory out of edges]]: Insert a new object which decompose edges to a trajectory
* [[Image:Robot_TrajectoryDressUp.png|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Let you override one or more properties of a trajectory
* [[Image:Robot_TrajectoryDressUp.png|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory
* [[Image:Robot_TrajectoryCompound.png|30px]] [[Robot_TrajectoryCompound|Trajectory compound]]: create a compound out of some single trajectories
* [[Image:Robot_TrajectoryCompound.png|30px]] [[Robot_TrajectoryCompound|Trajectory compound]]: Create a compound out of some single trajectories


<div class="mw-translate-fuzzy">
== Scripting ==
== Skript ==
This section is generated out of: http://sourceforge.net/p/free-cad/code/ci/master/tree/src/Mod/Robot/RobotExample.py
You can use this file directly if you want.


Detta avsnitt är genererat från: https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py
Example how to use the basic robot class Robot6Axis which represents a 6-axis
Du kan använda den filen direkt, om du vill.
industrial robot. The Robot module is dependent on Part but not on other modules.
</div>
It works mostly with the basic types Placement, Vector and Matrix. So we need
only:
from Robot import *
from Part import *
from FreeCAD import *
=== Basic robot stuff ===
create the robot. If you do not specify another kinematic it becomes a Puma 560
rob = Robot6Axis()
print rob
accessing the axis and the Tcp. Axes go from 1-6 and are in degree:
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 = Waypoint(Placement(),name="Pt",type="LIN")
print w.Name,w.Type,w.Pos,w.Cont,w.Velocity,w.Base,w.Tool
generate more. The trajectory always finds automatically a unique name for the waypoints
l = [w]
for i in range(5):
l.append(Waypoint(Placement(Vector(0,0,i*100),Vector(1,0,0),0),"LIN","Pt"))
create a trajectory
t = Trajectory(l)
print t
for i in range(7):
t.insertWaypoints(Waypoint(Placement(Vector(0,0,i*100+500),Vector(1,0,0),0),"LIN","Pt"))
see a list of all waypoints:
print t.Waypoints
del rob,Start,t,l,w
=== working with the document ===


See the [[Robot API example|Robot API example]] for a description of the functions used to model the robot displacements.
Working with the robot document objects:
first create a robot in the active document
if(App.activeDocument() == None):App.newDocument()
App.activeDocument().addObject("Robot::RobotObject","Robot")
Define the visual representation and the kinematic definition (see [[6-Axis Robot]] and [[VRML Preparation for Robot Simulation]] for details about that)
App.activeDocument().Robot.RobotVrmlFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.wrl"
App.activeDocument().Robot.RobotKinematicFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.csv"
start positon of the Axis (only that which differ from 0)
App.activeDocument().Robot.Axis2 = -90
App.activeDocument().Robot.Axis3 = 90
retrieve 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
create an empty Trajectory object in the active document
App.activeDocument().addObject("Robot::TrajectoryObject","Trajectory")
get the Trajectory
t = App.activeDocument().Trajectory.Trajectory
add the actual TCP position of the robot to the trajectory
StartTcp = App.activeDocument().Robot.Tcp
t.insertWaypoints(StartTcp)
App.activeDocument().Trajectory.Trajectory = t
print App.activeDocument().Trajectory.Trajectory
insert some more Waypoints and the start point at the end again:
for i in range(7):
t.insertWaypoints(Waypoint(Placement(Vector(0,1000,i*100+500),Vector(1,0,0),i),"LIN","Pt"))
t.insertWaypoints(StartTcp) # end point of the trajectory
App.activeDocument().Trajectory.Trajectory = t
print App.activeDocument().Trajectory.Trajectory
=== Simulation ===
To be done.....
=== Exporting the trajectory ===
The trajectory is exported by Python. That means for every control cabinet type there is a post-processor
Python module. Here is in detail the Kuka post-processor described
from KukaExporter import ExportCompactSub
ExportCompactSub(App.activeDocument().Robot,App.activeDocument().Trajectory,'D:/Temp/TestOut.src')
and that's kind of how it's done:
for w in App.activeDocument().Trajectory.Trajectory.Waypoints:
(A,B,C) = (w.Pos.Rotation.toEuler())
print ("LIN {X %.3f,Y %.3f,Z %.3f,A %.3f,B %.3f,C %.3f} ; %s"%(w.Pos.Base.x,w.Pos.Base.y,w.Pos.Base.z,A,B,C,w.Name))


== Tutorials ==
== Tutorials ==
* [[6-Axis_Robot|6-Axis_Robot]]
* [[Robot_6-Axis/sv|6-Axis_Robot]]
* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]]
* [[VRML Preparation for Robot Simulation/sv|VRML Preparation for Robot Simulation]]


<div class="mw-translate-fuzzy">
{{docnav|Arch Module|Macros}}
{{docnav/sv|Draft Module/sv|Macros/sv}}
</div>


{{Robot Tools navi}}
[[Category:User Documentation]]
{{Userdocnavi}}

[[Category:Workbenches]]

<languages/>

Revision as of 16:14, 1 April 2019

Introduction

Robot arbetsbänken är ett verktyg för simulering av 6-axliga industrirobotar, som t.ex. Kuka. Denna arbetsbänk är ett pågående arbete för att implementera ett off-line programmeringsverktyg för Robot_6-Axis industrirobotar i FreeCAD. You can do following tasks:

  • set up a simulation environment with a robot and work pieces
  • create and fill up trajectories
  • decompose features of an CAD part to a trajectory
  • simulate the robot movement and reachability
  • export the trajectory to a robot program file

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.

Du kan hitta ett exempel här: Example files or try the Robot tutorial.

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

Trajectories

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

Non parametric trajectories

Parametric trajectories

Skript

Detta avsnitt är genererat från: https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py Du kan använda den filen direkt, om du vill.

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

Tutorials

Draft Module/sv
Macros/sv