Robot Workbench/zh-hant: Difference between revisions
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<languages/> |
<languages/> |
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{{Docnav |
{{Docnav |
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|[[ |
|[[Reverse_Engineering_Workbench|Reverse Engineering Workbench]] |
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|[[ |
|[[Sketcher_Workbench|Sketcher Workbench]] |
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|IconL=Workbench_Reverse_Engineering.svg |
|IconL=Workbench_Reverse_Engineering.svg |
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|IconR= |
|IconR=Workbench_Sketcher.svg |
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}} |
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{{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]. |
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[[Image:Workbench_Robot.svg|240px|center]] |
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{{Caption|align=center|The FreeCAD Robot Workbench Icon}} |
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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. |
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{{VeryImportantMessage|The FreeCAD Robot Workbench is unmaintained. Please mention on the FreeCAD forum if you have an interest in maintaining this workbench.}} |
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== Introduction == |
== Introduction == |
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[[Image:Workbench_Robot.svg|thumb|128px|Robot workbench icon]] |
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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]. |
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You can do the following tasks: |
You can do the following tasks: |
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* Export the trajectory to a robot program file. |
* Export the trajectory to a robot program file. |
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To get started try the [[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. |
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. |
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{{TOCright}} |
{{TOCright}} |
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[[Image:Robot_Workbench_example.jpg| |
[[Image:Robot_Workbench_example.jpg|500px]] |
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== Tools == |
== Tools == |
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The tools to create and manage the 6-Axis robots |
The tools to create and manage the 6-Axis robots |
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* [[Image:Robot_CreateRobot. |
* [[Image:Robot_CreateRobot.svg|30px]] [[Robot_CreateRobot|Create a robot]]: Insert a new robot into the scene |
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* [[Image:Robot_Simulate. |
* [[Image:Robot_Simulate.svg|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and lets you simulate |
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* [[Image:Robot_Export. |
* [[Image:Robot_Export.svg|30px]] [[Robot_Export|Export a trajectory]]: Export a robot program file |
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* [[Image:Robot_SetHomePos. |
* [[Image:Robot_SetHomePos.svg|30px]] [[Robot_SetHomePos|Set home position]]: Set the home position of a robot |
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* [[Image:Robot_RestoreHomePos. |
* [[Image:Robot_RestoreHomePos.svg|30px]] [[Robot_RestoreHomePos|Restore home position]]: move the robot to its home position |
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=== Trajectories === |
=== Trajectories === |
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==== Non parametric trajectories ==== |
==== Non parametric trajectories ==== |
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* [[Image:Robot_CreateTrajectory. |
* [[Image:Robot_CreateTrajectory.svg|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene |
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* [[Image:Robot_SetDefaultOrientation. |
* [[Image:Robot_SetDefaultOrientation.svg|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default |
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* [[Image:Robot_SetDefaultValues. |
* [[Image:Robot_SetDefaultValues.svg|30px]] [[Robot_SetDefaultValues|Set the default speed parameter]]: Set the default values for way-point creation |
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* [[Image:Robot_InsertWaypoint. |
* [[Image:Robot_InsertWaypoint.svg|30px]] [[Robot_InsertWaypoint|Insert a waypoint]]: Insert a way-point from the current robot position into a trajectory |
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* [[Image:Robot_InsertWaypointPre. |
* [[Image:Robot_InsertWaypointPre.svg|30px]] [[Robot_InsertWaypointPre|Insert a waypoint preselected]]: Insert a way-point from the current mouse position into a trajectory |
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==== Parametric trajectories ==== |
==== Parametric trajectories ==== |
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* [[Image:Robot_Edge2Trac. |
* [[Image:Robot_Edge2Trac.svg|30px]] [[Robot_Edge2Trac|Create a trajectory out of edges]]: Insert a new object which decompose edges to a trajectory |
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* [[Image:Robot_TrajectoryDressUp. |
* [[Image:Robot_TrajectoryDressUp.svg|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory |
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* [[Image:Robot_TrajectoryCompound. |
* [[Image:Robot_TrajectoryCompound.svg|30px]] [[Robot_TrajectoryCompound|Trajectory compound]]: Create a compound out of some single trajectories |
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== Scripting == |
== Scripting == |
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See the [[ |
See the [[Robot_API_example|Robot API example]] for a description of the functions used to model the robot displacements. |
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== Tutorials == |
== Tutorials == |
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* [[Robot 6-Axis|Robot 6-Axis]] |
* [[Robot 6-Axis|Robot 6-Axis]] |
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* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]] |
* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]] |
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{{Docnav |
{{Docnav |
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|[[ |
|[[Reverse_Engineering_Workbench|Reverse Engineering Workbench]] |
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|[[ |
|[[Sketcher_Workbench|Sketcher Workbench]] |
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|IconL=Workbench_Reverse_Engineering.svg |
|IconL=Workbench_Reverse_Engineering.svg |
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|IconR= |
|IconR=Workbench_Sketcher.svg |
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}} |
}} |
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{{Robot Tools navi}} |
{{Robot Tools navi{{#translation:}}}} |
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Latest revision as of 16:33, 12 December 2020
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
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
- Create a robot: Insert a new robot into the scene
- Simulate a trajectory: Opens the simulation dialog and lets you simulate
- Export a trajectory: Export a robot program file
- Set home position: Set the home position of a robot
- 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
- Create a trajectory: Inserts a new empty trajectory-object into the scene
- Set the default orientation: Set the orientation way-points gets created by default
- Set the default speed parameter: Set the default values for way-point creation
- Insert a waypoint: Insert a way-point from the current robot position into a trajectory
- Insert a waypoint preselected: Insert a way-point from the current mouse position into a trajectory
Parametric trajectories
- Create a trajectory out of edges: Insert a new object which decompose edges to a trajectory
- Dress-up a trajectory: Lets you override one or more properties of a trajectory
- 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
- Trajectories, non parametric: Create a trajectory, Set default orientation, Set default values, Insert waypoint, Insert waypoint (mouse)
- Trajectories, parametric: Create a trajectory from edges, Dress-up trajectory, Trajectory compound
- Getting started
- Installation: Download, Windows, Linux, Mac, Additional components, Docker, AppImage, Ubuntu Snap
- Basics: About FreeCAD, Interface, Mouse navigation, Selection methods, Object name, Preferences, Workbenches, Document structure, Properties, Help FreeCAD, Donate
- Help: Tutorials, Video tutorials
- Workbenches: Std Base, Arch, Assembly, CAM, Draft, FEM, Inspection, Mesh, OpenSCAD, Part, PartDesign, Points, Reverse Engineering, Robot, Sketcher, Spreadsheet, Surface, TechDraw, Test Framework
- Hubs: User hub, Power users hub, Developer hub