Robot Workbench

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


 * [[Image:Robot_CreateRobot.svg|30px]] Create a robot: Insert a new robot into the scene
 * [[Image:Robot_Simulate.svg|30px]] Simulate a trajectory: Opens the simulation dialog and lets you simulate
 * [[Image:Robot_Export.svg|30px]] Export a trajectory: Export a robot program file
 * [[Image:Robot_SetHomePos.svg|30px]] Set home position: Set the home position of a robot
 * [[Image:Robot_RestoreHomePos.svg|30px]] Restore home position: 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

 * [[Image:Robot_CreateTrajectory.svg|30px]] Create a trajectory: Inserts a new empty trajectory-object into the scene
 * [[Image:Robot_SetDefaultOrientation.svg|30px]] Set the default orientation: Set the orientation way-points gets created by default
 * [[Image:Robot_SetDefaultValues.svg|30px]] Set the default speed parameter: Set the default values for way-point creation
 * [[Image:Robot_InsertWaypoint.svg|30px]] Insert a waypoint: Insert a way-point from the current robot position into a trajectory
 * [[Image:Robot_InsertWaypointPre.svg|30px]] Insert a waypoint preselected: Insert a way-point from the current mouse position into a trajectory

Parametric trajectories

 * [[Image:Robot_Edge2Trac.svg|30px]] Create a trajectory out of edges: Insert a new object which decompose edges to a trajectory
 * [[Image:Robot_TrajectoryDressUp.svg|30px]] Dress-up a trajectory: Lets you override one or more properties of a trajectory
 * [[Image:Robot_TrajectoryCompound.svg|30px]] 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

 * Robot 6-Axis
 * VRML Preparation for Robot Simulation