Robot Workbench: Difference between revisions

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== Introduction ==
{{VeryImportantMessage|The Robot Workbench is unmaintained. If you have experience with the topic and are interested in maintaining it, please state your intention in the developer's section of the [https://forum.freecadweb.org/index.php FreeCAD forum].

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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_workbenches|external workbench]] and it could be moved to a separate repository.
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== Introduction == <!--T:37-->

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The [[Robot Workbench]] is a tool to simulate a standard [[Robot_6-Axis|6-axis industrial robot]], like [http://kuka.com/ Kuka].
The [[Image:Workbench_Robot.svg|24px]] [[Robot Workbench|Robot Workbench]] is a tool to simulate a standard [[Robot_6-Axis|6-axis industrial robot]], like [http://kuka.com/ Kuka].


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You can do the following tasks:
You can do the following tasks:
* Set up a simulation environment with a robot and work pieces.
* Set up a simulation environment with a robot and work pieces.
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* [[Image:Robot_CreateRobot.png|30px]] [[Robot_CreateRobot|Create a robot]]: Insert a new robot into the scene
* [[Image:Robot_CreateRobot.svg|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 lets you simulate
* [[Image:Robot_Simulate.svg|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.svg|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 a robot
* [[Image:Robot_SetHomePos.svg|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.svg|30px]] [[Robot_RestoreHomePos|Restore home position]]: move the robot to its home position


=== Trajectories === <!--T:7-->
=== Trajectories === <!--T:7-->
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==== Non parametric trajectories ==== <!--T:8-->
==== Non parametric trajectories ==== <!--T:8-->
* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene
* [[Image:Robot_CreateTrajectory.svg|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.svg|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 default values for way-point creation
* [[Image:Robot_SetDefaultValues.svg|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.svg|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.svg|30px]] [[Robot_InsertWaypointPre|Insert a waypoint preselected]]: Insert a way-point from the current mouse position into a trajectory


==== Parametric trajectories ==== <!--T:9-->
==== Parametric trajectories ==== <!--T:9-->
* [[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.svg|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]]: Lets you override one or more properties of a trajectory
* [[Image:Robot_TrajectoryDressUp.svg|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.svg|30px]] [[Robot_TrajectoryCompound|Trajectory compound]]: Create a compound out of some single trajectories


== Scripting == <!--T:10-->
== Scripting == <!--T:10-->


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


== Tutorials == <!--T:34-->
== Tutorials == <!--T:34-->
* [[Robot 6-Axis|Robot 6-Axis]]
* [[Robot 6-Axis|Robot 6-Axis]]
* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]]
* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]]



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Revision as of 09:22, 13 May 2020

The Robot Workbench is unmaintained. If you have experience with the topic and are interested in maintaining it, please state your intention in the developer's section of the FreeCAD forum.

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

Robot workbench icon

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

Trajectories

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

Non parametric trajectories

Parametric trajectories

Scripting

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

Tutorials