Robot Workbench: Difference between revisions
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Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones. |
Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones. |
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==== Non parametric trajectories ==== <!--T:8--> |
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* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene |
* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene |
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* [[Image:Robot_SetDefaultOrientation.png|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default |
* [[Image:Robot_SetDefaultOrientation.png|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default |
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* [[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.png|30px]] [[Robot_InsertWaypointPre|Insert a waypoint]]: Insert a way-point from the current mouse position into a trajectory |
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==== Parametric trajectories ==== <!--T:9--> |
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* [[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.png|30px]] [[Robot_Edge2Trac|Create a trajectory out of edges]]: Insert a new object which decompose edges to a trajectory |
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* [[Image:Robot_TrajectoryDressUp.png|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory |
* [[Image:Robot_TrajectoryDressUp.png|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory |
Revision as of 21:00, 6 December 2018
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 positon: Set the home position of a robot
- Restore home positon: 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: 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
User documentation
- Getting started
- Installation: Download, Windows, Linux, Mac, Additional components, Docker, AppImage, Ubuntu Snap
- Basics: About FreeCAD, Interface, Mouse navigation, Selection methods, Object name, Preferences, Workbenches, Document structure, Properties, Help FreeCAD, Donate
- Help: Tutorials, Video tutorials
- Workbenches: Std Base, Arch, Assembly, CAM, Draft, FEM, Inspection, Mesh, OpenSCAD, Part, PartDesign, Points, Reverse Engineering, Robot, Sketcher, Spreadsheet, Surface, TechDraw, Test Framework
- Hubs: User hub, Power users hub, Developer hub