From FreeCAD Documentation
This Article is about bringing a Standard 6-Axis industry robot into FreeCAD for simulation
The description follows the Denavit-Hartenberg Parameter system, as also described in John J. Craigs book "Introduction to Robotics".
Example Kuka
Kinematic
3D applications
Segment
|
Parameter
|
Description
|
|
|
Base konfiguration
|
|
Failed to parse (syntax error): {\displaystyle \alpha_{1} = −90}
°
|
Segment 1
|
|
°
°
|
Segment 2
|
|
°
|
Segment 3
|
|
°
|
Segment 4
|
|
°
|
Segment 5
|
|
°
|
Segment 6
|
This leads to following table:
Kinematik table
![{\displaystyle i}](https://wikimedia.org/api/rest_v1/media/math/render/svg/add78d8608ad86e54951b8c8bd6c8d8416533d20) |
![{\displaystyle \theta }](https://wikimedia.org/api/rest_v1/media/math/render/svg/6e5ab2664b422d53eb0c7df3b87e1360d75ad9af) |
![{\displaystyle d}](https://wikimedia.org/api/rest_v1/media/math/render/svg/e85ff03cbe0c7341af6b982e47e9f90d235c66ab) |
![{\displaystyle a}](https://wikimedia.org/api/rest_v1/media/math/render/svg/ffd2487510aa438433a2579450ab2b3d557e5edc) |
|
1 |
q1 |
575 mm |
260 mm |
-90°
|
2 |
q2 - 90° |
0 mm |
680 mm |
0°
|
3 |
q3 |
0 mm |
0 mm |
90°
|
4 |
q4 |
-670 mm |
0 mm |
-90°
|
5 |
q5 |
0 mm |
0 mm |
90°
|
6 |
q6 |
-158 mm |
0 mm |
180°
|
Since the Kuka robots do not have all Axis to 0 in the drawn L-Position, we have to change
Axis 2 & 3 by 90°.
Kinematik table
![{\displaystyle i}](https://wikimedia.org/api/rest_v1/media/math/render/svg/add78d8608ad86e54951b8c8bd6c8d8416533d20) |
![{\displaystyle \theta }](https://wikimedia.org/api/rest_v1/media/math/render/svg/6e5ab2664b422d53eb0c7df3b87e1360d75ad9af) |
![{\displaystyle d}](https://wikimedia.org/api/rest_v1/media/math/render/svg/e85ff03cbe0c7341af6b982e47e9f90d235c66ab) |
![{\displaystyle a}](https://wikimedia.org/api/rest_v1/media/math/render/svg/ffd2487510aa438433a2579450ab2b3d557e5edc) |
|
1 |
q1 |
575 mm |
260 mm |
-90°
|
2 |
q2 |
0 mm |
680 mm |
0°
|
3 |
q3 - 90° |
0 mm |
0 mm |
90°
|
4 |
q4 |
-670 mm |
0 mm |
-90°
|
5 |
q5 |
0 mm |
0 mm |
90°
|
6 |
q6 |
-158 mm |
0 mm |
180°
|