Robot project

This is the project article for the Robot project. It follows the rules of the Getting things done process. The projects are collected in the Development roadmap.

Purpose and principles

This project should lay down the principal technologies for a realistic robot simulation in FreeCAD. In the first step it targets the standard 6-axis industrial robot.

Outcome

Robot simulation

Brainstorming

Libs in field

• OROCOSlibs for inverse kinematic
• ROBOOP targets directly to robot simulation, but seems inactive.
• Beremiz a OpenSource PLC.

Standards for communication

• OPC UA to communicate with PLCs
• RRS-II German standard for robot simulation communication

Middleware for comunication

• D-Bus
• CORBA

Commercial products in that field

• Visual Components
• Delmia
• KUKA Sim

Knowledge

• Kinematic definition
• Roboter VRML modele

Organizing

• Visual representation of 6-Axis robots (done)
• Forward and inverse kinematic calculation of arbitrary robots (done)
• RobotLib, dynamic readably robot types (work in progress)
• Trajectory simulation (work in progress)
  • collision simulation
  • detection of configuration changes and singularities
  • time estimation
  • used volume (planed)
• Post processor for Kuka robots (work in progress)
• Process and work cell control (planed)
• Movie making out of simulation (planed)

Next actions

• Trajectory and Waypoint management.