Robot tutorial: Difference between revisions

From FreeCAD Documentation
mNo edit summary
m (moved animated image higher in document + refinements)
(25 intermediate revisions by 6 users not shown)
Line 1: Line 1:
<languages/>
This tutorial is here to teach you how to use the [[Robot Workbench]] to simulate a robot cell set-up.
<translate>
<!--T:9-->
{{TutorialInfo
|Topic= Robot Workbench
|Level= Beginner
|Time=
|Author=r-frank
|FCVersion=0.16.6703
|Files=
}}


== Introduction == <!--T:1-->
== before you begin ==
This tutorial is written for FreeCAD Version 0.11 R3977 or higher. So if you don't have FreeCAD on your
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-->
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.
computer go to the [[Download]] page and do the installation.


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

==Setting up the scene== <!--T:4-->
#Switch to the [[Image:Workbench_Robot.svg|24px]] [[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
#Zoom to fit all by clicking on [[Image:Std_ViewFitAll.svg|24px]] [[Std ViewFitAll|FitAll]] button
#Save your file ...

==Setting up a trajectory== <!--T:5-->
#Switch to the [[Image:Workbench_Robot.svg|24px]] [[Robot Workbench]]
#Activate the model-tab in the [[tree view]] by clicking on it
#Create a new trajectory by clicking on the [[Image:Robot_CreateTrajectory.svg|24px]] [[Robot CreateTrajectory]] button
#Select the robot in the [[tree view]]
#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
#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

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


</translate>
{{languages | {{es|Robot_tutorial/es}} }}
{{Tutorials navi{{#translation:}}}}
{{Robot Tools navi{{#translation:}}}}
{{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