Robot tutorial: Difference between revisions
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==Setting up the scene== <!--T:4--> |
==Setting up the scene== <!--T:4--> |
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#Switch to the [[Image:Workbench_Robot.svg| |
#Switch to the [[Image:Workbench_Robot.svg|24px]] [[Robot Workbench]] |
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#Create a new document by choosing {{KEY| |
#Create a new document by choosing {{KEY|File}} → {{KEY| New}} from the top menu |
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#Insert a Kuka IR500 robot into the scene by choosing {{KEY| |
#Insert a Kuka IR500 robot into the scene by choosing {{KEY|Robot}} → {{KEY|Insert Robots}} → {{KEY|Kuka IR500}} from the top menu |
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#Change to axonometric view by clicking on [[Image:View-axometric.png| |
#Change to axonometric view by clicking on [[Image:View-axometric.png|24px]] |
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#Zoom to fit all by clicking on [[Image:Std_ViewFitAll.svg| |
#Zoom to fit all by clicking on [[Image:Std_ViewFitAll.svg|24px]] [[Std ViewFitAll|FitAll]] |
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#Save your file ... |
#Save your file ... |
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Revision as of 01:23, 10 February 2020
Tutorial |
Topic |
---|
Robot Workbench |
Level |
Beginner |
Time to complete |
Authors |
r-frank |
FreeCAD version |
0.16.6703 |
Example files |
See also |
None |
Introduction
This tutorial is here to teach you how to use the Robot Workbench to simulate a robot cell set-up.
Before you begin
This tutorial is written for FreeCAD Version 0.16.6703 or higher. So if you don't have FreeCAD on your computer go to the Download page and do the installation.
This tutorial is targeting on the use of industrial robots and not mobile or service robots (see here).
Setting up the scene
- Switch to the Robot Workbench
- Create a new document by choosing File → New from the top menu
- Insert a Kuka IR500 robot into the scene by choosing Robot → Insert Robots → Kuka IR500 from the top menu
- Change to axonometric view by clicking on
- Zoom to fit all by clicking on FitAll
- Save your file ...
Setting up a trajectory
- Switch to the Robot Workbench
- Activate the model-tab in the tree view by clicking on it
- Create a new trajectory by clicking on the Robot CreateTrajectory button
- Select the robot in the tree view
- Set home position for robot by clicking on Robot_SetHomePos
- Switch to the Task Panel
- By using the sliders change robot position
- When robot and trajectory are selected in tree view clicking on Robot InsertWaypoint will insert the way-point in the trajectory
- Each way-point is shown with a yellow cross, the waypoints are connected with orange lines
- Define at least three different way points and insert them in the trajectory
Simulating robot movement
- Select robot and trajectory in tree view
- Select simulation by clicking on
- Click on Play-Button I>
- Watch simulation