Robot Workbench/de: Difference between revisions

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{{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].
The robot workbench is a tool to simulate industrial grade [[6-Axis Robot]]s, like e.g. [http://kuka.com/ Kuka].
You can do the 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


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.
You can find an example here:
}}
[https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py Example files] or try
the [[Robot tutorial]].


== Tools ==
==Einleitung==
Here the principal commands you can use to create a robot set-up.


[[Image:Workbench_Robot.svg|thumb|128px|Robot workbench icon]]
=== Robots ===
The tools to create and manage the 6-Axis robots


<div class="mw-translate-fuzzy">
* [[Image:Robot_CreateRobot.png|30px]] [[Robot_CreateRobot|Create a robot]]: Insert a new robot into the scene
Die [[Robot Workbench/de|Roboter Arbeitsbereich]] ist ein Werkzeug zur Simulation eines Standard [[Robot_6-Achsen|6-Achsen-Industrieroboters]], wie [http://kuka.com/ Kuka].
* [[Image:Robot_Simulate.png|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and let you simulate
</div>
* [[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_RestoreHomePos.png|30px]] [[Robot_RestoreHomePos|Restore home positon]]: move the robot to its home position


Du kannst die folgenden Aufgaben erledigen:
=== Trajectories ===
* Richten eine Simulationsumgebung mit einem Roboter und Werkstücken ein.
Tools to creat and manipulate trajectories. There are two kinds, the parametric and non parametric ones.
* Erstellen und Auffüllen von Bewegungstrajektorien.
* Zerlege die Merkmale eines CAD-Bauteils in eine Trajektorie.
* Simuliere die Roboterbewegung und das Erreichen der Distanz.
* Exportiere die Trajektorie in eine Roboterprogrammdatei.


Um loszulegen, versuche es mit dem [[Robot Tutorial]], und sieh Dir die Programmierschnittstelle in der Beispieldatei [https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py RobotExample.py] an.
==== non parametric ====
* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Insert a new robot 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_SetDefaultValues.png|30px]] [[Robot_SetDefaultValues|Set the default speed parameter]]: set the defaults 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_InsertWaypointPre.png|30px]] [[Robot_InsertWaypointPre|Insert a waypoint]]: Insert a way-point from the current mouse position into a trajectory


{{TOCright}}
==== parametric ====
[[Image:Robot_Workbench_example.jpg|500px]]
* [[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_TrajectoryCompound.png|30px]] [[Robot_TrajectoryCompound|Trajectory compound]]: create a compound out of some single trajectories


== Scripting ==
== Werkzeuge ==
Hier die wichtigsten Befehle, mit denen eine Roboteranordnung erstellt werden kann.
This section is generated out of: https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py
You can use this file directly if you want.


==== Roboter ======
Example how to use the basic robot class Robot6Axis which represents a 6-axis
Die Werkzeuge zur Erstellung und Verwaltung der 6-Achsen-Roboter
industrial robot. The Robot module is dependent on Part but not on other modules.
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 objects ===


* [[Image:Robot_CreateRobot.svg|30px]] [[Robot_CreateRobot|Create a robot]]: Insert a new robot into the scene
Working with the robot document objects:
* [[Image:Robot_Simulate.svg|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and lets you simulate
first create a robot in the active document
* [[Image:Robot_Export.svg|30px]] [[Robot_Export|Export a trajectory]]: Export a robot program file
if(App.activeDocument() == None):App.newDocument()
* [[Image:Robot_SetHomePos.svg|30px]] [[Robot_SetHomePos|Set home position]]: Set the home position of a robot
* [[Image:Robot_RestoreHomePos.svg|30px]] [[Robot_RestoreHomePos|Restore home position]]: move the robot to its home position
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 ===
=== Trajektorien ===
Werkzeuge zum Erstellen und Bearbeiten von Trajektorien. Es gibt zwei Arten, die parametrische und die nicht parametrische.
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))


==== Non parametric trajectories ====
== Tutorials ==
* [[Image:Robot_CreateTrajectory.svg|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene
* [[6-Axis_Robot|6-Axis_Robot]]
* [[Image:Robot_SetDefaultOrientation.svg|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default
* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]]
* [[Image:Robot_SetDefaultValues.svg|30px]] [[Robot_SetDefaultValues|Set the default speed parameter]]: Set the default values for way-point creation
* [[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.svg|30px]] [[Robot_InsertWaypointPre|Insert a waypoint preselected]]: Insert a way-point from the current mouse position into a trajectory


==== Parametric trajectories ====
{{docnav|Arch Module|Standard Menu}}
* [[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.svg|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory
* [[Image:Robot_TrajectoryCompound.svg|30px]] [[Robot_TrajectoryCompound|Trajectory compound]]: Create a compound out of some single trajectories


== Scripting ==
[[Category:User Documentation/de]]


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


== Tutorials ==
<languages/>
* [[Robot 6-Axis|Robot 6-Axis]]
* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]]

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{{docnav/de|[[FEM Module/de|FEM-Arbeitsbereich]]|[[Standard Menu/de|Standard-Menü]]}}
{{Robot Tools navi/de}}
{{Userdocnavi/de}}
[[Category:Workbenches/de]]
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Revision as of 09:23, 13 May 2020

Other languages:
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.

Einleitung

Robot workbench icon

Die Roboter Arbeitsbereich ist ein Werkzeug zur Simulation eines Standard 6-Achsen-Industrieroboters, wie Kuka.

Du kannst die folgenden Aufgaben erledigen:

  • Richten eine Simulationsumgebung mit einem Roboter und Werkstücken ein.
  • Erstellen und Auffüllen von Bewegungstrajektorien.
  • Zerlege die Merkmale eines CAD-Bauteils in eine Trajektorie.
  • Simuliere die Roboterbewegung und das Erreichen der Distanz.
  • Exportiere die Trajektorie in eine Roboterprogrammdatei.

Um loszulegen, versuche es mit dem Robot Tutorial, und sieh Dir die Programmierschnittstelle in der Beispieldatei RobotExample.py an.

Werkzeuge

Hier die wichtigsten Befehle, mit denen eine Roboteranordnung erstellt werden kann.

Roboter ==

Die Werkzeuge zur Erstellung und Verwaltung der 6-Achsen-Roboter

Trajektorien

Werkzeuge zum Erstellen und Bearbeiten von Trajektorien. Es gibt zwei Arten, die parametrische und die nicht parametrische.

Non parametric trajectories

Parametric trajectories

Scripting

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

Tutorials

Robot
Anwenderdokumentation
Robot
Anwenderdokumentation
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