KukaKR16FreeCAD.jpg

The robot workbench is a tool to simulate industrial grade Robot 6-Axis, like e.g. Kuka. You can do the following tasks:

  • set up a simulation environment with a robot and work pieces
  • create and fill up trajectories
  • decompose features of an CAD part to a trajectory
  • simulate the robot movement and reachability
  • export the trajectory to a robot program file

You can find an example here: Example files or try the Robot tutorial.

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

Trajectories

Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.

non parametric trajectories

parametric trajectories

Scripting

This section is generated out of: https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py You can use this file directly if you want.

Example how to use the basic robot class Robot6Axis which represents a 6-axis industrial robot. The Robot module is dependent on Part but not on other modules. It works mostly with the basic types Placement, Vector and Matrix. So we need only:

from Robot import *
from Part import *
from FreeCAD import * 

Basic robot stuff

create the robot. If you do not specify another kinematic it becomes a Puma 560

rob = Robot6Axis()
print rob 

accessing the axis and the Tcp. Axes go from 1-6 and are in degree:

Start = rob.Tcp
print Start
print rob.Axis1 

move the first axis of the robot:

rob.Axis1 = 5.0 

the Tcp has changed (forward kinematic)

print rob.Tcp 

move the robot back to start position (reverse kinematic):

rob.Tcp = Start
print rob.Axis1 

the same with axis 2:

rob.Axis2 = 5.0
print rob.Tcp
rob.Tcp = Start
print rob.Axis2 

Waypoints:

w = Waypoint(Placement(),name="Pt",type="LIN")
print w.Name,w.Type,w.Pos,w.Cont,w.Velocity,w.Base,w.Tool 

generate more. The trajectory always finds automatically a unique name for the waypoints

l = [w]
for i in range(5):
  l.append(Waypoint(Placement(Vector(0,0,i*100),Vector(1,0,0),0),"LIN","Pt")) 

create a trajectory

t = Trajectory(l)
print t
for i in range(7):
  t.insertWaypoints(Waypoint(Placement(Vector(0,0,i*100+500),Vector(1,0,0),0),"LIN","Pt")) 

see a list of all waypoints:

print t.Waypoints
 
del rob,Start,t,l,w 

Working with the document objects

Working with the robot document objects: first create a robot in the active document

if(App.activeDocument() == None):App.newDocument()
 
App.activeDocument().addObject("Robot::RobotObject","Robot") 

Define the visual representation and the kinematic definition (see Robot 6-Axis and VRML Preparation for Robot Simulation for details about that)

App.activeDocument().Robot.RobotVrmlFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.wrl"
App.activeDocument().Robot.RobotKinematicFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.csv" 

start positon of the Axis (only that which differ from 0)

App.activeDocument().Robot.Axis2 = -90
App.activeDocument().Robot.Axis3 = 90 

retrieve the Tcp position

pos = FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp 

move the robot

pos.move(App.Vector(-10,0,0))
FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp = pos 

create an empty Trajectory object in the active document

App.activeDocument().addObject("Robot::TrajectoryObject","Trajectory") 

get the Trajectory

t = App.activeDocument().Trajectory.Trajectory 

add the actual TCP position of the robot to the trajectory

StartTcp = App.activeDocument().Robot.Tcp
t.insertWaypoints(StartTcp)
App.activeDocument().Trajectory.Trajectory = t
print App.activeDocument().Trajectory.Trajectory 

insert some more Waypoints and the start point at the end again:

for i in range(7):
  t.insertWaypoints(Waypoint(Placement(Vector(0,1000,i*100+500),Vector(1,0,0),i),"LIN","Pt"))

t.insertWaypoints(StartTcp) # end point of the trajectory
App.activeDocument().Trajectory.Trajectory = t
print App.activeDocument().Trajectory.Trajectory 

Simulation

To be done.....

Exporting the trajectory

The trajectory is exported by Python. That means for every control cabinet type there is a post-processor Python module. Here is in detail the Kuka post-processor described

from KukaExporter import ExportCompactSub

ExportCompactSub(App.activeDocument().Robot,App.activeDocument().Trajectory,'D:/Temp/TestOut.src') 

and that's kind of how it's done:

for w in App.activeDocument().Trajectory.Trajectory.Waypoints:
	(A,B,C) = (w.Pos.Rotation.toEuler())
	print ("LIN {X %.3f,Y %.3f,Z %.3f,A %.3f,B %.3f,C %.3f} ; %s"%(w.Pos.Base.x,w.Pos.Base.y,w.Pos.Base.z,A,B,C,w.Name)) 

Tutorials



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