Robot Workbench: Difference between revisions

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The robot workbench is tool to simulate industrial grade 6-Axis robots, like e.g. [http://kuka.com/ Kuka]. Following features are planed and partial already implemented:
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* Visual representation of [[6-Axis Robot]] (done)
* Forward and inverse kinematic calculation of arbitrary robots (done)
* RobotLib, dynamic readably robot types (work in progress)
* Trajectory simulation (work in progress)
** collision simulation
** detection of configuration changes and singularities
** time estimation
** used volume (planed)
* Post processor for Kuka robots (work in progress)
* Process and work cell control (planed)
* Movie making out of simulation (planed)


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[[Image:KukaKR16FreeCAD.jpg]]
{{Docnav
|[[Reverse_Engineering_Workbench|Reverse Engineering Workbench]]
|[[Sketcher_Workbench|Sketcher Workbench]]
|IconL=Workbench_Reverse_Engineering.svg
|IconR=Workbench_Sketcher.svg
}}


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== Scripting ==
{{VeryImportantMessage|The Robot Workbench is unmaintained. If you have experience with the topic and are interested in maintaining it, please state your intention in the developer's section of the [https://forum.freecadweb.org/index.php FreeCAD forum].


<!--T:47-->
This section is generated out of: http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/RobotExample.py?view=markup
The reason this workbench is still in the master source code is because this workbench is programmed in C++. If this workbench could be programmed in Python, then it could be made an [[external_workbenches|external workbench]] and it could be moved to a separate repository.
You can use this file directly if you whant.
}}


== Introduction == <!--T:37-->
Example hwo to use the basic robot class Robot6Axis which represent a 6-Axis
industrial robot. The Robot Module is dependend on Part but nor 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 not specify a other kinematic it becomes a Puma 560
rob = Robot6Axis()
print rob
accessing the axis and the Tcp. Axis go from 1-6 and are in degrees:
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 find allways outomatically 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 ===


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Working with the robot document objects:
[[Image:Workbench_Robot.svg|thumb|128px|<translate><!--T:46--> Robot workbench icon</translate>]]
first creat a robot in the active document
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if(App.activeDocument() == None):App.newDocument()

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App.activeDocument().addObject("Robot::RobotObject","Robot")
The [[Image:Workbench_Robot.svg|24px]] [[Robot_Workbench|Robot Workbench]] is a tool to simulate a standard [[Robot_6-Axis|6-axis industrial robot]], like [http://kuka.com/ Kuka].
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"
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App.activeDocument().Robot.RobotKinematicFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.csv"
You can do the following tasks:
start positon of the Axis (only that which differ from 0)
* Set up a simulation environment with a robot and work pieces.
App.activeDocument().Robot.Axis2 = -90
* Create and fill up movement trajectories.
App.activeDocument().Robot.Axis3 = 90
* Decompose features of a CAD part to a trajectory.
* Simulate the robot movement and reaching distance.
retrive the Tcp position
* Export the trajectory to a robot program file.
pos = FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp

move the robot
<!--T:3-->
pos.move(App.Vector(-10,0,0))
To get started try the [[Robot_tutorial|Robot tutorial]], and see the programming interface in the [https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py RobotExample.py] example file.
FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp = pos

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create an empty Trajectory object in the active document
{{TOCright}}
App.activeDocument().addObject("Robot::TrajectoryObject","Trajectory")
[[Image:Robot_Workbench_example.jpg|500px]]
get the Trajectory
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t = App.activeDocument().Trajectory.Trajectory

add the actual TCP position of the robot to the trajectory
== Tools == <!--T:4-->
StartTcp = App.activeDocument().Robot.Tcp
Here the principal commands you can use to create a robot set-up.
t.insertWaypoints(StartTcp)

App.activeDocument().Trajectory.Trajectory = t
=== Robots === <!--T:5-->
print App.activeDocument().Trajectory.Trajectory
The tools to create and manage the 6-Axis robots

insert some more Waypoints and the start point at the end again:
<!--T:6-->
for i in range(7):
* [[Image:Robot_CreateRobot.svg|30px]] [[Robot_CreateRobot|Create a robot]]: Insert a new robot into the scene
t.insertWaypoints(Waypoint(Placement(Vector(0,1000,i*100+500),Vector(1,0,0),i),"LIN","Pt"))
* [[Image:Robot_Simulate.svg|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and lets you simulate
* [[Image:Robot_Export.svg|30px]] [[Robot_Export|Export a trajectory]]: Export a robot program file
t.insertWaypoints(StartTcp) # end point of the trajectory
* [[Image:Robot_SetHomePos.svg|30px]] [[Robot_SetHomePos|Set home position]]: Set the home position of a robot
App.activeDocument().Trajectory.Trajectory = t
* [[Image:Robot_RestoreHomePos.svg|30px]] [[Robot_RestoreHomePos|Restore home position]]: move the robot to its home position
print App.activeDocument().Trajectory.Trajectory

=== Simulation ===
=== Trajectories === <!--T:7-->
Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.
To be done..... ;-)

==== Non parametric trajectories ==== <!--T:8-->
=== Exporting the trajectory ===
* [[Image:Robot_CreateTrajectory.svg|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene
the Trajectory is exported by python. That means for every Control Cabinet type is a Post processor
* [[Image:Robot_SetDefaultOrientation.svg|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default
python module. Here is in detail the Kuka Postprocessor descriped
* [[Image:Robot_SetDefaultValues.svg|30px]] [[Robot_SetDefaultValues|Set the default speed parameter]]: Set the default values for way-point creation
from KukaExporter import ExportCompactSub
* [[Image:Robot_InsertWaypoint.svg|30px]] [[Robot_InsertWaypoint|Insert a waypoint]]: Insert a way-point from the current robot position into a trajectory
* [[Image:Robot_InsertWaypointPre.svg|30px]] [[Robot_InsertWaypointPre|Insert a waypoint preselected]]: Insert a way-point from the current mouse position into a trajectory
ExportCompactSub(App.activeDocument().Robot,App.activeDocument().Trajectory,'D:/Temp/TestOut.src')

==== Parametric trajectories ==== <!--T:9-->
and thats kind of how its done:
* [[Image:Robot_Edge2Trac.svg|30px]] [[Robot_Edge2Trac|Create a trajectory out of edges]]: Insert a new object which decompose edges to a trajectory
for w in App.activeDocument().Trajectory.Trajectory.Waypoints:
* [[Image:Robot_TrajectoryDressUp.svg|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory
(A,B,C) = (w.Pos.Rotation.toEuler())
* [[Image:Robot_TrajectoryCompound.svg|30px]] [[Robot_TrajectoryCompound|Trajectory compound]]: Create a compound out of some single trajectories
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))

== Scripting == <!--T:10-->

<!--T:39-->
See the [[Robot_API_example|Robot API example]] for a description of the functions used to model the robot displacements.

== Tutorials == <!--T:34-->
* [[Robot 6-Axis|Robot 6-Axis]]
* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]]


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{{Docnav
|[[Reverse_Engineering_Workbench|Reverse Engineering Workbench]]
|[[Sketcher_Workbench|Sketcher Workbench]]
|IconL=Workbench_Reverse_Engineering.svg
|IconR=Workbench_Sketcher.svg
}}

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{{Robot Tools navi{{#translation:}}}}
{{Userdocnavi{{#translation:}}}}
[[Category:Workbenches{{#translation:}}]]

Latest revision as of 20:49, 3 December 2020

The Robot Workbench is unmaintained. If you have experience with the topic and are interested in maintaining it, please state your intention in the developer's section of the FreeCAD forum.

The reason this workbench is still in the master source code is because this workbench is programmed in C++. If this workbench could be programmed in Python, then it could be made an external workbench and it could be moved to a separate repository.

Introduction

Robot workbench icon

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

Trajectories

Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.

Non parametric trajectories

Parametric trajectories

Scripting

See the Robot API example for a description of the functions used to model the robot displacements.

Tutorials