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{{Docnav
[[Image:KukaKR16FreeCAD.jpg|right|400px]]
|[[Reverse Engineering Workbench|Reverse Engineering Workbench]]
|[[Ship Workbench|Ship Workbench]]
|IconL=Workbench_Reverse_Engineering.svg
|IconR=Workbench_Ship.svg
}}

[[Image:Workbench_Robot.svg|240px|center]]
{{Caption|align=center|The FreeCAD Robot Workbench Icon}}
{{VeryImportantMessage|The FreeCAD Robot Workbench is unmaintained. Please mention on the FreeCAD forum if you have an interest in maintaining this workbench.}}

== Introduction ==

<div class="mw-translate-fuzzy">
ロボットワークベンチは[http://kuka.com/ Kuka]のような産業用[[6-Axis Robot/jp|6軸ロボット]]のシミュレートのためのツールです。
以下の作業を行うことができます：
* ロボット、加工物とシミュレーション環境のセットアップ
* 軌道の作成と書き込み
* CAD部品形状を軌道に分解
* ロボットの動作と到達可能範囲のシミュレート
* ロボットプログラムファイルへの軌道のエクスポート
</div>


The robot workbench is a tool to simulate industrial grade [[Robot_6-Axis|Robot 6-Axis]], like e.g. [http://kuka.com/ Kuka].
You can do the following tasks:
You can do the following tasks:
* set up a simulation environment with a robot and work pieces
* Set up a simulation environment with a robot and work pieces.
* create and fill up trajectories
* Create and fill up movement trajectories.
* decompose features of an CAD part to a trajectory
* Decompose features of a CAD part to a trajectory.
* simulate the robot movement and reachability
* Simulate the robot movement and reaching distance.
* export the trajectory to a robot program file
* Export the trajectory to a robot program file.


<div class="mw-translate-fuzzy">
You can find an example here:
[https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py Example files] or try
the [[Robot tutorial]].


以下で例を見ることができます：
== Tools ==
[http://www.freecad-project.de/svn/ExampleData/Examples/RobotSimulation/ サンプルファイル] または [[Robot tutorial/jp|ロボットのチュートリアル]]
Here the principal commands you can use to create a robot set-up.
</div>


{{TOCright}}
=== Robots ===
[[Image:Robot_Workbench_example.jpg|600px]]
The tools to create and manage the 6-Axis robots


== ツール ==
* [[Image:Robot_CreateRobot.png|30px]] [[Robot_CreateRobot|Create a robot]]: Insert a new robot into the scene
ロボット設定を作成するのに使う主要なコマンドです。
* [[Image:Robot_Simulate.png|30px]] [[Robot_Simulate|Simulate a trajectory]]: Opens the simulation dialog and lets you simulate
* [[Image:Robot_Export.png|30px]] [[Robot_Export|Export a trajectory]]: Export a robot program file
* [[Image:Robot_SetHomePos.png|30px]] [[Robot_SetHomePos|Set home positon]]: Set the home position of a robot
* [[Image:Robot_RestoreHomePos.png|30px]] [[Robot_RestoreHomePos|Restore home positon]]: move the robot to its home position


=== Trajectories ===
=== ロボット ===
6軸ロボットを作成、管理するためのツール
Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.


<div class="mw-translate-fuzzy">
==== non parametric trajectories ====
* [[Image:Robot_CreateRobot.png|30px]] [[Robot_CreateRobot/jp|ロボットを作成]]: シーンに新しいロボットを挿入します
* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory|Create a trajectory]]: Inserts a new empty trajectory-object into the scene
* [[Image:Robot_Simulate.png|30px]] [[Robot_Simulate/jp|軌道をシミュレート]]: シミュレーションダイアログを開き、シミュレートを行います
* [[Image:Robot_SetDefaultOrientation.png|30px]] [[Robot_SetDefaultOrientation|Set the default orientation]]: Set the orientation way-points gets created by default
* [[Image:Robot_Export.png|30px]] [[Robot_Export/jp|軌道をエクスポート]]: ロボットプログラムファイルをエクスポートします
* [[Image:Robot_SetDefaultValues.png|30px]] [[Robot_SetDefaultValues|Set the default speed parameter]]: Set the default values for way-point creation
* [[Image:Robot_SetHomePos.png|30px]] [[Robot_SetHomePos/jp|定位置を設定]]: ロボットの定位置を設定します
* [[Image:Robot_InsertWaypoint.png|30px]] [[Robot_InsertWaypoint|Insert a waypoint]]: Insert a way-point from the current robot position into a trajectory
* [[Image:Robot_RestoreHomePos.png|30px]] [[Robot_RestoreHomePos/jp|定位置に戻す]]: ロボットを定位置に動かします
* [[Image:Robot_InsertWaypointPre.png|30px]] [[Robot_InsertWaypointPre|Insert a waypoint]]: Insert a way-point from the current mouse position into a trajectory
</div>


==== parametric trajectories ====
=== 軌道 ===
軌道を作成し、操作するためのツールです。パラメトリックなものと非パラメトリックなものの二種類があります。
* [[Image:Robot_Edge2Trac.png|30px]] [[Robot_Edge2Trac|Create a trajectory out of edges]]: Insert a new object which decompose edges to a trajectory
* [[Image:Robot_TrajectoryDressUp.png|30px]] [[Robot_TrajectoryDressUp|Dress-up a trajectory]]: Lets you override one or more properties of a trajectory
* [[Image:Robot_TrajectoryCompound.png|30px]] [[Robot_TrajectoryCompound|Trajectory compound]]: Create a compound out of some single trajectories


<div class="mw-translate-fuzzy">
== Scripting ==
==== 非パラメトリック ====
This section is generated out of: https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py
* [[Image:Robot_CreateTrajectory.png|30px]] [[Robot_CreateTrajectory/jp|軌道を作成]]: シーンに新しいロボットを挿入します
You can use this file directly if you want.
* [[Image:Robot_SetDefaultOrientation.png|30px]] [[Robot_SetDefaultOrientation/jp|デフォルトの方向を設定]]: デフォルトで作成される方位通過点を設定します
* [[Image:Robot_SetDefaultValues.png|30px]] [[Robot_SetDefaultValues/jp|デフォルトの速度パラメーターを設定]]: 通過点作成時に使用されるデフォルト値を設定します
* [[Image:Robot_InsertWaypoint.png|30px]] [[Robot_InsertWaypoint/jp|通過点を挿入]]: 現在のロボット位置から軌道に通過点を挿入します
* [[Image:Robot_InsertWaypointPre.png|30px]] [[Robot_InsertWaypointPre/jp|通過点を挿入]]: 現在のマウス位置から軌道に通過点を挿入します
</div>


<div class="mw-translate-fuzzy">
Example how to use the basic robot class Robot6Axis which represents a 6-axis
==== パラメトリック ====
industrial robot. The Robot module is dependent on Part but not on other modules.
* [[Image:Robot_Edge2Trac.png|30px]] [[Robot_Edge2Trac/jp|エッジから軌道を作成]]: エッジを軌道に分解した新しいオブジェクトを挿入します
It works mostly with the basic types Placement, Vector and Matrix. So we need
* [[Image:Robot_TrajectoryDressUp.png|30px]] [[Robot_TrajectoryDressUp/jp|軌道をドレスアップ]]: 軌道の一つ以上のプロパティを上書きします
only:
* [[Image:Robot_TrajectoryCompound.png|30px]] [[Robot_TrajectoryCompound/jp|軌道を合成]]: 複数の単一軌道を合成したものを作成します
{{Code|code=
</div>
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
{{Code|code=
rob = Robot6Axis()
print rob
}}
accessing the axis and the Tcp. Axes go from 1-6 and are in degree:
{{Code|code=
Start = rob.Tcp
print Start
print rob.Axis1
}}
move the first axis of the robot:
{{Code|code=
rob.Axis1 = 5.0
}}
the Tcp has changed (forward kinematic)
{{Code|code=
print rob.Tcp
}}
move the robot back to start position (reverse kinematic):
{{Code|code=
rob.Tcp = Start
print rob.Axis1
}}
the same with axis 2:
{{Code|code=
rob.Axis2 = 5.0
print rob.Tcp
rob.Tcp = Start
print rob.Axis2
}}
Waypoints:
{{Code|code=
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
{{Code|code=
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
{{Code|code=
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:
{{Code|code=
print t.Waypoints
del rob,Start,t,l,w
}}
=== Working with the document objects ===


<div class="mw-translate-fuzzy">
Working with the robot document objects:
== スクリプト処理 ==
first create a robot in the active document
{{Code|code=
if(App.activeDocument() == None):App.newDocument()
App.activeDocument().addObject("Robot::RobotObject","Robot")
}}
Define the visual representation and the kinematic definition (see [[Robot_6-Axis|Robot 6-Axis]] and [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]] for details about that)
{{Code|code=
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)
{{Code|code=
App.activeDocument().Robot.Axis2 = -90
App.activeDocument().Robot.Axis3 = 90
}}
retrieve the Tcp position
{{Code|code=
pos = FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp
}}
move the robot
{{Code|code=
pos.move(App.Vector(-10,0,0))
FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp = pos
}}
create an empty Trajectory object in the active document
{{Code|code=
App.activeDocument().addObject("Robot::TrajectoryObject","Trajectory")
}}
get the Trajectory
{{Code|code=
t = App.activeDocument().Trajectory.Trajectory
}}
add the actual TCP position of the robot to the trajectory
{{Code|code=
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:
{{Code|code=
for i in range(7):
t.insertWaypoints(Waypoint(Placement(Vector(0,1000,i*100+500),Vector(1,0,0),i),"LIN","Pt"))


このセクションは以下のスクリプトから生成されています： http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/RobotExample.py?view=markup
t.insertWaypoints(StartTcp) # end point of the trajectory
必要であればこのファイルを直接使用することもできます。
App.activeDocument().Trajectory.Trajectory = t
</div>
print App.activeDocument().Trajectory.Trajectory
}}


See the [[Robot API example|Robot API example]] for a description of the functions used to model the robot displacements.
=== 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
{{Code|code=
from KukaExporter import ExportCompactSub


==チュートリアル==
ExportCompactSub(App.activeDocument().Robot,App.activeDocument().Trajectory,'D:/Temp/TestOut.src')
}}
and that's kind of how it's done:
{{Code|code=
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 ==
* [[Robot 6-Axis|Robot 6-Axis]]
* [[Robot 6-Axis|Robot 6-Axis]]
* [[VRML Preparation for Robot Simulation|VRML Preparation for Robot Simulation]]
*[[VRML Preparation for Robot Simulation|VRMLのロボットシミュレーション準備]]



<div class="mw-translate-fuzzy">
{{docnav|FEM Module|Standard Menu}}
{{docnav|FEM Module|Standard Menu}}
{{docnav/jp|Drawing Module/jp|Raytracing Module/jp}}
</div>


{{Robot Tools navi{{#translation:}}}}
[[Category:User Documentation]]
{{Userdocnavi{{#translation:}}}}
[[Category:Workbenches{{#translation:}}]]

Revision as of 18:11, 21 February 2020

Other languages:

The FreeCAD Robot Workbench Icon

The FreeCAD Robot Workbench is unmaintained. Please mention on the FreeCAD forum if you have an interest in maintaining this workbench.

Introduction

ロボットワークベンチはKukaのような産業用6軸ロボットのシミュレートのためのツールです。 以下の作業を行うことができます：

  • ロボット、加工物とシミュレーション環境のセットアップ
  • 軌道の作成と書き込み
  • CAD部品形状を軌道に分解
  • ロボットの動作と到達可能範囲のシミュレート
  • ロボットプログラムファイルへの軌道のエクスポート

You can do the following tasks:

  • Set up a simulation environment with a robot and work pieces.
  • Create and fill up movement trajectories.
  • Decompose features of a CAD part to a trajectory.
  • Simulate the robot movement and reaching distance.
  • Export the trajectory to a robot program file.

以下で例を見ることができます： サンプルファイル または ロボットのチュートリアル

ツール

ロボット設定を作成するのに使う主要なコマンドです。

ロボット

6軸ロボットを作成、管理するためのツール

軌道

軌道を作成し、操作するためのツールです。パラメトリックなものと非パラメトリックなものの二種類があります。

非パラメトリック

パラメトリック

スクリプト処理

このセクションは以下のスクリプトから生成されています： http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/RobotExample.py?view=markup 必要であればこのファイルを直接使用することもできます。

See the Robot API example for a description of the functions used to model the robot displacements.

チュートリアル

FEM Module
Standard Menu

Template:Docnav/jp

Robot
User documentation
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