Robot tutorial: Difference between revisions

From FreeCAD Documentation
(Completey rewritten from scratch ...)
m (moved animated image higher in document + refinements)
(20 intermediate revisions by 5 users not shown)
Line 1: Line 1:
<languages/>
<translate>
<translate>
<!--T:5-->
<!--T:9-->
{{TutorialInfo
{{TutorialInfo
|Topic= Robot Workbench
|Topic= Robot Workbench
Line 10: Line 11:
}}
}}


<!--T:1-->
== Introduction == <!--T:1-->
This tutorial is here to teach you how to use the [[Robot Workbench]] to simulate a robot cell set-up.
This tutorial is here to teach you how to use the [[Image:Workbench_Robot.svg|24px]] [[Robot Workbench]] to simulate a robot cell set-up.

<!--T:7-->
[[Image:Robot_Tutorial_RobotSimulation.gif]]
{{Caption|Final result of this tutorial}}


== Before you begin == <!--T:2-->
== Before you begin == <!--T:2-->
Line 19: Line 24:
<!--T:3-->
<!--T:3-->
This tutorial is targeting on the use of [http://en.wikipedia.org/wiki/Industrial_robot industrial robots]
This tutorial is targeting on the use of [http://en.wikipedia.org/wiki/Industrial_robot industrial robots]
and not mobile or service robots (see [http://en.wikipedia.org/wiki/Robot#Modern_robots here]).
and not mobile or service robots (see wikipedia's entry on [http://en.wikipedia.org/wiki/Robot#Modern_robots modern robots]).


<!--T:5-->
==Setting up the scene== <!--T:4-->
#Switch to the [[Image:Workbench_Robot.svg|24px]] [[Robot Workbench]]
==Setting up the scene==
#Create a new document by choosing {{KEY|File}} → {{KEY| New}} from the top menu
#Switch to the [[Robot Workbench]]
#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
#Change to axonometric view by clicking on the [[Image:View-axometric.svg|24px]] button
#Insert a Kuka IR500 robot into the scene by choosing {{KEY| Robot }} → {{KEY| Insert Robots }} → {{KEY| Kuka IR500 }} from the top menu
#Zoom to fit all by clicking on [[Image:Std_ViewFitAll.svg|24px]] [[Std ViewFitAll|FitAll]] button
#Switch to [[Part Workbench]]
#Insert a box into the scene by clicking on [[Image:Part_Box.png|32px]]
#Change size of box by
##selecting it in the tree view
##change to data-tab in property view
##change Length to be 1000 mm
##change Width to be 1000 mm
##change Heigth to be 1000 mm
#Change position of box by
##selecting it in the tree view
##clicking into the value-tab of placement in the property view
##clicking on {{KEY| ... }}
##change x-positon to 1500 mm
##change y-positon to -500 mm
##click on {{KEY| OK }} to apply values
#Change to axonometric view by clicking on [[Image:View-axometric.svg|32px]]
#Zoom to fit all by clicking on [[Image:View-zoom-all.svg|32px]]
#Save your file ...
#Save your file ...


<!--T:6-->
==Setting up a trajectory== <!--T:5-->
#Switch to the [[Image:Workbench_Robot.svg|24px]] [[Robot Workbench]]
==Setting up a trajectory==
#Activate the model-tab in the [[tree view]] by clicking on it
#Switch to the [[Robot Workbench]]
#Create a new trajectory by clicking on the [[Image:Robot_CreateTrajectory.svg|24px]] [[Robot CreateTrajectory]] button
#Activate the model-tab in the tree view by clicking on it
#Select the robot in the tree view
#Select the robot in the [[tree view]]
#Set home position for robot by clicking on [[Image:Robot_SetHomePos.png|32px]]
#Set home position for robot by clicking on [[Image:Robot_SetHomePos.svg|24px]] [[Robot SetHomePos|Robot_SetHomePos]]
#Switch to the [[Task Panel]]
#
#By using the sliders change robot position
#Todo
#When robot and trajectory are selected in [[tree view]] clicking on [[Image:Robot_InsertWaypoint.svg|24px]] [[Robot InsertWaypoint|Robot InsertWaypoint]] will insert the way-point in the trajectory
#
#Each way-point is shown with a yellow cross, the waypoints are connected with orange lines
#Define at least three different way points and insert them in the trajectory


<!--T:7-->
==Simulating robot movement== <!--T:6-->
#Select robot and trajectory in [[tree view]]
==Simulating robot movement==
#Select simulation by clicking on [[Image:Robot_Simulate.svg|24px]] [[Robot Simulate|Robot Simulate]]
#Select robot and trajectory in tree view
#Click on Play {{KEY| &#9654;}} button
#Select simulation by clicking on [[Image:Robot_Simulate.png|32px]]
#Click on Play-Button {{KEY| I> }}
#Watch simulation
#Watch simulation

<!--T:8-->
[[Image:Robot_Tutorial_Robot_Simulation.gif]]

<!--T:4-->
[[Category:Tutorials]]


</translate>
</translate>
{{Tutorials navi{{#translation:}}}}
{{clear}}
{{Robot Tools navi{{#translation:}}}}
<languages/>
{{Userdocnavi{{#translation:}}}}

Revision as of 13:07, 28 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.

Final result of this tutorial

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 wikipedia's entry on modern robots).

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 the button
  5. Zoom to fit all by clicking on FitAll button
  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 Robot Simulate
  3. Click on Play button
  4. Watch simulation

Template:Tutorials navi