機器人工作台
The reason this workbench is still in the master source code is because this workbench is programmed in C++. If this workbench could be programmed in Python, then it could be made an external workbench and it could be moved to a separate repository.
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
- 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
- Installation: Unix, Windows, Mac; Getting started
- Basics: About FreeCAD, Workbenches, Preferences, Document structure, Interface Customization, Properties, Mouse Model; Tutorials
- Workbenches: 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
- 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
