Robot Workbench

The robot workbench is a tool to simulate industrial grade 6-axis robots, like e.g. Kuka.

General use


This workbench is an ongoing effort to implement an off-line programming tool for 6-axis industrial robots into FreeCAD.

An example you can find here:

http://www.freecad-project.de/svn/ExampleData/Examples/RobotSimulation/

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 want.

Example how to use the basic robot class Robot6Axis which represents a 6-axis 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
Working with the robot document objects: first create a robot in the active document if(App.activeDocument == None):App.newDocument App.activeDocument.addObject("Robot::RobotObject","Robot") Define the visual representation and the kinematic definition (see 6-Axis Robot 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
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))