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{{TutorialInfo
{{TutorialInfo/zh-hans
|Topic= Robot Workbench
|Topic= Robot Workbench
|Level= Beginner
|Level= Beginner
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}}
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<div class="mw-translate-fuzzy">
本指南用于指导你如何使用[[机器人工作台]]来模拟一个机器人单元的设置。
本指南用于指导你如何使用[[Robot_Workbench|机器人工作台]]来模拟一个机器人单元的设置。
</div>

[[Image:Robot_Tutorial_RobotSimulation.gif]]
{{Caption|Final result of this tutorial}}


== 开始之前 ==
== 开始之前 ==
本指南用于FreeCAD 0.16.6703及以上版本,如果你没有在你的电脑上安装FreeCAD,请前往 [[下载]] 页面并完成安装。
本指南用于FreeCAD 0.16.6703及以上版本,如果你没有在你的电脑上安装FreeCAD,请前往 [[Download|下载]] 页面并完成安装。


<div class="mw-translate-fuzzy">
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]).
本指南的目标是用于[http://en.wikipedia.org/wiki/Industrial_robot 工业机器人],并不是用在移动或者服务机器人(详见 [http://en.wikipedia.org/wiki/Robot#Modern_robots] 现代机器人).
</div>


==Setting up the scene==
==Setting up the scene==
#Switch to the [[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 the [[Image:View-axometric.svg|24px]] button
#Zoom to fit all by clicking on [[Image:View-zoom-all.png|32px]]
#Zoom to fit all by clicking on [[Image:Std_ViewFitAll.svg|24px]] [[Std ViewFitAll|FitAll]] button
#Save your file ...
#Save your file ...


==Setting up a trajectory==
==Setting up a trajectory==
#Switch to the [[Robot Workbench]]
#Switch to the [[Image:Workbench_Robot.svg|24px]] [[Robot Workbench]]
#Activate the model-tab in the tree view by clicking on it
#Activate the model-tab in the [[tree view]] by clicking on it
#Create a new trajectory by clicking on [[Image:Robot_CreateTrajectory.png|32px]]
#Create a new trajectory by clicking on the [[Image:Robot_CreateTrajectory.svg|24px]] [[Robot CreateTrajectory]] button
#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
#Switch to the [[Task Panel]]
#By using the sliders change robot position
#By using the sliders change robot position
#When robot and trajectory are selected in tree view clicking on [[Image:Robot_InsertWaypoint.png|32px]] will insert the way-point in the trajectory
#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
#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
#Define at least three different way points and insert them in the trajectory


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


{{Robot Tools navi{{#translation:}}}}
[[Image:Robot_Tutorial_RobotSimulation.gif]]
{{Userdocnavi{{#translation:}}}}



{{clear}}

Latest revision as of 12:58, 14 April 2023

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

本指南用于指导你如何使用机器人工作台来模拟一个机器人单元的设置。

Final result of this tutorial

开始之前

本指南用于FreeCAD 0.16.6703及以上版本,如果你没有在你的电脑上安装FreeCAD,请前往 下载 页面并完成安装。

本指南的目标是用于工业机器人,并不是用在移动或者服务机器人(详见 [1] 现代机器人).

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