Robot project

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This roadmap is probably obsolete. For more information see Development roadmap.
If you are not involved with the development discussed here:

This is the project article for the Robot project. It follows the rules of the Getting things done process. The projects are collected in the Development roadmap.

Purpose and principles

This project should lay down the principal technologies for a realistic robot simulation in FreeCAD. In the first step it targets the standard 6-axis industrial robot.


Robot simulation



Libs in field

  • OROCOS portable C++ libraries for advanced machine and robot control
  • ROBOOP A robotics object oriented package in C++
  • Beremiz an OpenSource PLC.

Standards for communication

  • OPC UA a machine to machine communication protocol for industrial automation (PLC)
  • [1] German initiative to improve the accuracy of robot controllers and optimize offline robot programming
  • Realistic Robot Simulation (RRS) RRS-2, Virtual Robot Controller (VRC) Interface

Middleware for comunication

  • D-Bus a software bus, an inter-process communication (IPC), and a remote procedure call (RPC) mechanism that allows communication between multiple computer programs
  • CORBA enables collaboration between systems on different operating systems, programming languages, and computing hardware

Commercial products in that field



  • Visual representation of 6-Axis robots (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)

Next actions

  • Trajectory and Waypoint management.