Robot Workbench
The robot workbench is tool to simulate industrial grade 6-Axis robots, like e.g. Kuka. Following features are planed and partial already implemented:
- Visual representation of 6-Axis Robot (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)
Scripting
This section is generated out of: http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/RobotExample.py?view=markup You can use this file directly if you whant.
Example hwo to use the basic robot class Robot6Axis which represent a 6-Axis industrial robot. The Robot Module is not dependend on Part or an other Module. It works only with the basic types Placement, Vector and Matrix. So we need only:
from Robot import * from FreeCAD import *
create the robot. If you not specify a other kinematic it becomes a Puma 560
rob = Robot6Axis() print rob
accessing the axis and the Tcp. Axis go from 1-6 and are in degrees:
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
l = [w] for i in range(5): l.append(Waypoint(Placement(Vector(0,0,i*100),0,Vector(1,0,0)),"LIN","Pt"))
create a trajectory
t = Trajectory(l) print t del rob,Start
Working with the robot document objects: first creat a robot in the active document
App.activeDocument().addObject("Robot::RobotObject","Robot") App.activeDocument().Robot.RobotVrmlFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.wrl" App.activeDocument().Robot.Axis2 = -90 App.activeDocument().Robot.Axis3 = 90
retrive 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