Robot tutorial: Difference between revisions

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==Setting up the scene== <!--T:4-->
==Setting up the scene== <!--T:4-->
#Switch to the [[Image:Workbench_Robot.svg|32px]] [[Robot Workbench]]
#Switch to the [[Image:Workbench_Robot.svg|24px]] [[Robot Workbench]]
#Create a new document by choosing {{KEY| File }} → {{KEY| New }} from the top menu
#Create a new document by choosing {{KEY|File}} → {{KEY| New}} from the top menu
#Insert a Kuka IR500 robot into the scene by choosing {{KEY| Robot }} → {{KEY| Insert Robots }} → {{KEY| Kuka IR500 }} from the top menu
#Insert a Kuka IR500 robot into the scene by choosing {{KEY|Robot}} → {{KEY|Insert Robots}} → {{KEY|Kuka IR500}} from the top menu
#Change to axonometric view by clicking on [[Image:View-axometric.png|32px]]
#Change to axonometric view by clicking on [[Image:View-axometric.png|24px]]
#Zoom to fit all by clicking on [[Image:Std_ViewFitAll.svg|32px]] [[Std ViewFitAll|FitAll]]
#Zoom to fit all by clicking on [[Image:Std_ViewFitAll.svg|24px]] [[Std ViewFitAll|FitAll]]
#Save your file ...
#Save your file ...



Revision as of 01:23, 10 February 2020

Tutorial
Topic
Robot Workbench
Level
Beginner
Time to complete
Authors
r-frank
FreeCAD version
0.16.6703
Example files
See also
None

Introduction

This tutorial is here to teach you how to use the Robot Workbench to simulate a robot cell set-up.

Before you begin

This tutorial is written for FreeCAD Version 0.16.6703 or higher. So if you don't have FreeCAD on your computer go to the Download page and do the installation.

This tutorial is targeting on the use of industrial robots and not mobile or service robots (see here).

Setting up the scene

  1. Switch to the Robot Workbench
  2. Create a new document by choosing File New from the top menu
  3. Insert a Kuka IR500 robot into the scene by choosing RobotInsert RobotsKuka IR500 from the top menu
  4. Change to axonometric view by clicking on
  5. Zoom to fit all by clicking on FitAll
  6. Save your file ...

Setting up a trajectory

  1. Switch to the Robot Workbench
  2. Activate the model-tab in the tree view by clicking on it
  3. Create a new trajectory by clicking on the Robot CreateTrajectory button
  4. Select the robot in the tree view
  5. Set home position for robot by clicking on Robot_SetHomePos
  6. Switch to the Task Panel
  7. By using the sliders change robot position
  8. When robot and trajectory are selected in tree view clicking on Robot InsertWaypoint will insert the way-point in the trajectory
  9. Each way-point is shown with a yellow cross, the waypoints are connected with orange lines
  10. Define at least three different way points and insert them in the trajectory

Simulating robot movement

  1. Select robot and trajectory in tree view
  2. Select simulation by clicking on
  3. Click on Play-Button I>
  4. Watch simulation