Robot Workbench

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    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.


    Robot workbench icon

    The Workbench Robot.svg 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 example file.

    Robot Workbench example.jpg


    Here the principal commands you can use to create a robot set-up.


    The tools to create and manage the 6-Axis robots


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

    Non parametric trajectories

    Parametric trajectories


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