608 lines
17 KiB
HTML
608 lines
17 KiB
HTML
<html><head><title>Robot 6-Axis</title><meta http-equiv="Content-Type" content="text/html; charset=utf-8"><link type='text/css' href='wiki.css' rel='stylesheet'></head><body><h1>Robot 6-Axis</h1></div>
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<div id="mw-content-text" lang="en" dir="ltr" class="mw-content-ltr"><div class="mw-parser-output"><table class="fcinfobox wikitable ct" style="width: 230px; float: right; margin-left: 1em">
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<tr>
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<td class="ctTitle">
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<h3><span class="mw-headline" id="Tutorial"><a href="https://www.freecadweb.org/wiki/index.php?title=File:Base_ExampleCommandModel.png" class="image"><img alt="Base ExampleCommandModel.png" src="32px-Base_ExampleCommandModel.png" width="32" height="30" srcset="/wiki/images/thumb/9/93/Base_ExampleCommandModel.png/48px-Base_ExampleCommandModel.png 1.5x, /wiki/images/9/93/Base_ExampleCommandModel.png 2x" /></a> Tutorial</span></h3>
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</td></tr>
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<tr>
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<th class="ctOdd">Topic
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</th></tr>
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<tr>
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<td class="ctEven">Robot Workbench
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</td></tr>
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<tr>
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<th class="ctOdd">Level
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</th></tr>
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<tr>
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<td class="ctEven">Intermediate
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</td></tr>
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<tr>
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<th class="ctOdd">Time to complete
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</th></tr>
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<tr>
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<td class="ctEven">Unknown
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</td></tr>
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<tr>
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<th class="ctOdd">Author
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</th></tr>
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<tr>
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<td class="ctEven">
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</td></tr>
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<tr>
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<th class="ctOdd">FreeCAD version
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</th></tr>
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<tr>
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<td class="ctEven">
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</td></tr>
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<tr>
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<th class="ctOdd">Example File(s)
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</th></tr>
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<tr>
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<td class="ctEven">
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</td></tr>
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<tr>
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<td class="ctToc"><br /><div id="toc" class="toc"><div class="toctitle"><h2>Contents</h2></div>
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<ul>
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<li class="toclevel-1"><a href="#Tutorial"><span class="tocnumber">1</span> <span class="toctext">Tutorial</span></a></li>
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<li class="toclevel-1 tocsection-1"><a href="#Example_Kuka"><span class="tocnumber">2</span> <span class="toctext">Example Kuka</span></a>
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<ul>
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<li class="toclevel-2 tocsection-2"><a href="#Kinematic"><span class="tocnumber">2.1</span> <span class="toctext">Kinematic</span></a></li>
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<li class="toclevel-2 tocsection-3"><a href="#Visual_representation"><span class="tocnumber">2.2</span> <span class="toctext">Visual representation</span></a></li>
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<li class="toclevel-2 tocsection-4"><a href="#KR_210"><span class="tocnumber">2.3</span> <span class="toctext">KR 210</span></a></li>
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<li class="toclevel-2 tocsection-5"><a href="#KR_500"><span class="tocnumber">2.4</span> <span class="toctext">KR 500</span></a></li>
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</ul>
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</li>
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</ul>
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</div>
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</td></tr></table>
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<p><br />
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</p><p>This article is about bringing a standard 6-Axis industry robot into FreeCAD for simulation
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</p><p>The description follows the <a rel="nofollow" class="external text" href="http://en.wikipedia.org/wiki/Denavit-Hartenberg_Parameters">Denavit-Hartenberg Parameter</a> system, as also described in John J. Craigs book "Introduction to Robotics".
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</p>
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<h2><span class="mw-headline" id="Example_Kuka">Example Kuka</span></h2>
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<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
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<caption> <b>The Kuka KR-16</b>
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</caption>
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<tr>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaKR16.jpg" class="image"><img alt="KukaKR16.jpg" src="KukaKR16.jpg" width="414" height="396" /></a>
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</td>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaParts.jpg" class="image"><img alt="KukaParts.jpg" src="KukaParts.jpg" width="253" height="268" /></a>
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</td>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaAxisPosition.jpg" class="image"><img alt="KukaAxisPosition.jpg" src="KukaAxisPosition.jpg" width="346" height="290" /></a>
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</td></tr></table>
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<h3><span class="mw-headline" id="Kinematic">Kinematic</span></h3>
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<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
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<caption> <b>3D applications</b>
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</caption>
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<tr>
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<th> Segment
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</th>
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<th> Parameter
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</th>
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<th> Description
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</th></tr>
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<tr>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaBase.jpg" class="image"><img alt="KukaBase.jpg" src="KukaBase.jpg" width="223" height="250" /></a>
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</td>
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<td>
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</td>
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<td> Base konfiguration
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</td></tr>
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<tr>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment1.jpg" class="image"><img alt="KukaSegment1.jpg" src="KukaSegment1.jpg" width="223" height="238" /></a>
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</td>
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<td>
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<p><math>\theta_{1} = q_{1}</math>
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</p><p><math>d_{1} = 675 mm </math>
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</p><p><math>a_{1} = 260 mm </math>
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</p><p><math>\alpha_{1} = −90</math>°
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</p>
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</td>
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<td> Segment 1
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</td></tr>
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<tr>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment2.jpg" class="image"><img alt="KukaSegment2.jpg" src="KukaSegment2.jpg" width="221" height="249" /></a>
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</td>
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<td>
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<p><math>\theta_{2} = q_{2} - 90</math>°
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</p><p><math>d_{2} = 0 mm </math>
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</p><p><math>a_{2} = 680 mm </math>
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</p><p><math>\alpha_{2} = 0</math>°
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</p>
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</td>
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<td> Segment 2
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</td></tr>
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<tr>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment3.jpg" class="image"><img alt="KukaSegment3.jpg" src="KukaSegment3.jpg" width="221" height="255" /></a>
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</td>
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<td>
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<p><math>\theta_{3} = q_{3} </math>
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</p><p><math>d_{3} = 0 mm </math>
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</p><p><math>a_{3} = 0 mm </math>
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</p><p><math>\alpha_{3} = 90</math>°
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</p>
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</td>
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<td> Segment 3
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</td></tr>
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<tr>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment4.jpg" class="image"><img alt="KukaSegment4.jpg" src="KukaSegment4.jpg" width="237" height="240" /></a>
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</td>
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<td>
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<p><math>\theta_{4} = q_{4} </math>
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</p><p><math>d_{4} = -670 mm </math>
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</p><p><math>a_{4} = 0 mm </math>
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</p><p><math>\alpha_{4} = -90</math>°
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</p>
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</td>
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<td> Segment 4
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</td></tr>
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<tr>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment5.jpg" class="image"><img alt="KukaSegment5.jpg" src="KukaSegment5.jpg" width="221" height="233" /></a>
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</td>
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<td>
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<p><math>\theta_{5} = q_{5} </math>
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</p><p><math>d_{5} = 0 mm </math>
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</p><p><math>a_{5} = 0 mm </math>
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</p><p><math>\alpha_{5} = 90</math>°
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</p>
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</td>
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<td> Segment 5
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</td></tr>
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<tr>
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<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment6.jpg" class="image"><img alt="KukaSegment6.jpg" src="KukaSegment6.jpg" width="257" height="240" /></a>
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</td>
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<td>
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<p><math>\theta_{6} = q_{6} </math>
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</p><p><math>d_{6} = 0 mm </math>
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</p><p><math>a_{6} = -158 mm </math>
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</p><p><math>\alpha_{6} = 180</math>°
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</p>
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</td>
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<td> Segment 6
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</td></tr></table>
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<p>This leads to following table:
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</p>
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<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
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<caption> <b>Kinematik table</b>
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</caption>
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<tr>
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<th> <math>i</math> </th>
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<th> <math>\theta</math> </th>
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<th> <math>d</math> </th>
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<th> <math>a</math> </th>
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<th> <math>\alpha</math>
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</th></tr>
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<tr>
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<td> 1 </td>
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<td> q1 </td>
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<td> 675 mm </td>
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<td> 260 mm </td>
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<td> -90°
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</td></tr>
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<tr>
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<td> 2 </td>
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<td> q2 - 90° </td>
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<td> 0 mm </td>
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<td> 680 mm </td>
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<td> 0°
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</td></tr>
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<tr>
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<td> 3 </td>
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<td> q3 </td>
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<td> 0 mm </td>
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<td> 0 mm </td>
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<td> 90°
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</td></tr>
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<tr>
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<td> 4 </td>
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<td> q4 </td>
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<td> -670 mm </td>
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<td> 0 mm </td>
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<td> -90°
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</td></tr>
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<tr>
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<td> 5 </td>
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<td> q5 </td>
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<td> 0 mm </td>
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<td> 0 mm </td>
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<td> 90°
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</td></tr>
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<tr>
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<td> 6 </td>
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<td> q6 </td>
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<td> -158 mm </td>
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<td> 0 mm </td>
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<td> 180°
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</td></tr></table>
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<p>Since the Kuka robots do not have all axis to 0 in the drawn L-Position, we have to change
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axis 2 & 3 by 90°.
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</p><p><br />
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</p>
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<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
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<caption> <b>Kinematik table</b>
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</caption>
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<tr>
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<th> <math>i</math> </th>
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<th> <math>\theta</math> </th>
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<th> <math>d</math> </th>
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<th> <math>a</math> </th>
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<th> <math>\alpha</math>
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</th></tr>
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<tr>
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<td> 1 </td>
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<td> q1 </td>
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<td> 675 mm </td>
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<td> 260 mm </td>
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<td> -90°
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</td></tr>
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<tr>
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<td> 2 </td>
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<td> q2 </td>
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<td> 0 mm </td>
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<td> 680 mm </td>
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<td> 0°
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</td></tr>
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<tr>
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<td> 3 </td>
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<td> q3 - 90° </td>
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<td> 0 mm </td>
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<td> 0 mm </td>
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<td> 90°
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</td></tr>
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<tr>
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<td> 4 </td>
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<td> q4 </td>
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<td> -670 mm </td>
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<td> 0 mm </td>
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<td> -90°
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</td></tr>
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<tr>
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<td> 5 </td>
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<td> q5 </td>
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<td> 0 mm </td>
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<td> 0 mm </td>
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<td> 90°
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</td></tr>
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<tr>
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<td> 6 </td>
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<td> q6 </td>
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<td> -158 mm </td>
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<td> 0 mm </td>
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<td> 180°
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</td></tr></table>
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<p>In the data sheet we find additional information about the axis:
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</p><p><a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaAxisData.jpg" class="image"><img alt="KukaAxisData.jpg" src="KukaAxisData.jpg" width="947" height="145" /></a>
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</p><p>That leads to this complete table:
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</p>
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<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
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<caption> <b>Kinematik table</b>
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</caption>
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<tr>
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<th> <math>i</math> </th>
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<th> <math>\theta</math> </th>
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<th> <math>d</math> </th>
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<th> <math>a</math> </th>
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<th> <math>\alpha</math> </th>
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<th> <math>\theta_{min}</math> </th>
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<th> <math>\theta_{max}</math> </th>
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<th> Axis Speed
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</th></tr>
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<tr>
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<td> 1 </td>
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<td> 0 </td>
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<td> 675 </td>
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<td> 260 </td>
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<td> -90 </td>
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<td> -185 </td>
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<td> 185 </td>
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<td> 156
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</td></tr>
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<tr>
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<td> 2 </td>
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<td> 0 </td>
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<td> 0 </td>
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<td> 680 </td>
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<td> 0 </td>
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<td> -155 </td>
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<td> 35 </td>
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<td> 156
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</td></tr>
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<tr>
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<td> 3 </td>
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<td> - 90 </td>
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<td> 0 </td>
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<td> 0 </td>
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<td> 90 </td>
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<td> -130 </td>
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<td> 154 </td>
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<td> 156
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</td></tr>
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<tr>
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<td> 4 </td>
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<td> 0 </td>
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<td> -670 </td>
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<td> 0 </td>
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<td> -90 </td>
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<td> -350 </td>
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<td> 350 </td>
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<td> 330
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</td></tr>
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<tr>
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<td> 5 </td>
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<td> 0 </td>
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<td> 0 </td>
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<td> 0 </td>
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<td> 90 </td>
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<td> -130 </td>
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<td> 130 </td>
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<td> 330
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</td></tr>
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<tr>
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<td> 6 </td>
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<td> 0 </td>
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<td> -158 </td>
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<td> 0 </td>
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<td> 180 </td>
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<td> -350 </td>
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<td> 350 </td>
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<td> 615
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</td></tr></table>
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<h3><span class="mw-headline" id="Visual_representation">Visual representation</span></h3>
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<p>FreeCAD can generate a rough visual out of the kinematic table. But if you want closer to reality you can use a VRML file with the robot shape for the simulation.
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E.g. <a rel="nofollow" class="external text" href="http://kuka.com">Kuka</a> delivers for its model VRML files.
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The VRML file gets loaded while the creation of the specific robot in FreeCAD. In order to allow FreeCAD to move the axis we have to edit the VRML file and insert special transformation nodes FreeCAD can find and manipulate.
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</p><p>Again shown by the example Kuka KR 16.
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Beginning from line 1:
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</p>
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<pre>#VRML V2.0 utf8
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#
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# This VRML97 file was exported using eM-Workplace
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# (c) Tecnomatix Technologies GmbH & Co. KG
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# Heisenberg-Bogen 1
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# D-85609 Aschheim-Dornach
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# GERMANY
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#
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#Background
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#{
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# skyColor [0.752941 0.752941 0.752941]
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#}
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Transform
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{
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#rotation 1 0 0 -1.5707963
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#scale .001 .001 .001
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children
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[
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DEF AOBJ_0001_000_TRAFO Transform
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{
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children
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[
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...
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</pre>
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<p>You see this file is exported with a robot simulation software called Tecnomatix. Remove this notice and put in a URL where you get this file from, because Tecnomatix has no copyright in the file content. It's only a converter! First of all we remove the <b>Background</b> node. Then remove the <b>rotation</b> and <b>scale</b> node to get the model to mm and upright Z.
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</p><p>Right at the end:
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</p>
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<pre> ] }
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] }
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] }
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]
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}
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#ROUTE SENS_04_OBJ.rotation_changed TO AXIS_04_OBJ.rotation
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#ROUTE SENS_27_OBJ.rotation_changed TO AXIS_27_OBJ.rotation
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#ROUTE SENS_32_OBJ.rotation_changed TO AXIS_32_OBJ.rotation
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#ROUTE SENS_44_OBJ.rotation_changed TO AXIS_44_OBJ.rotation
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#ROUTE SENS_46_OBJ.rotation_changed TO AXIS_46_OBJ.rotation
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#ROUTE SENS_49_OBJ.rotation_changed TO AXIS_49_OBJ.rotation
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#DEF AnySIMTimer TimeSensor
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#{
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# cycleInterval 1.000000
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# loop TRUE
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#}
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</pre>
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<p>Comment out the <b>TimeSensor</b> and the 6 routes. This 6 lines give you a hint where the actual axis of the robot are! First search for "AXIS_04_OBJ" that brings you to that place:
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</p>
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<pre>...
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Transform { rotation 1 0 0 1.570796 children [
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DEF SENS_04_OBJ-0001 CylinderSensor
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{
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diskAngle 1.570796
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minAngle -3.228859
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maxAngle 3.228859
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offset 0.000000
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}
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DEF FREECAD_AXIS1 Transform { rotation 0 1 0 0 children [
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DEF AXIS_04_OBJ-0001 Transform
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{
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children
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[
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Transform { rotation 1 0 0 -1.570796 children [
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DEF AOBJ_0001_003_TRAFO Transform
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{
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rotation 1.000000 0.000000 0.000000 3.141593
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translation -600.000000 500.000000 300.000000
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children
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[
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...
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</pre>
|
||
<p>You have to insert exactly above the definition of this node the line <b>"DEF FREECAD_AXIS1 Transform { rotation 0 1 0 0 children ["</b> which is the anchor for FreeCAD to move the axis.
|
||
</p><p>Now do the same for <b>FREECAD_AXIS2</b>,<b>FREECAD_AXIS3</b>,<b>FREECAD_AXIS4</b>,<b>FREECAD_AXIS5</b> and <b>FREECAD_AXIS6</b>.
|
||
Don't forget the closing brackets at the end of the file and you're done!
|
||
</p><p>You can load the VRML by instantiating the robot:
|
||
</p>
|
||
<pre>App.activeDocument().addObject("Robot::RobotObject","Robot")
|
||
App.activeDocument().Robot.RobotVrmlFile = "C:/_Projekte/FreeCAD0.9_build/mod/Robot/Lib/Kuka/kr16.wrl"
|
||
</pre>
|
||
<p>which should give you that result:
|
||
<a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaKR16FreeCAD.jpg" class="image"><img alt="KukaKR16FreeCAD.jpg" src="KukaKR16FreeCAD.jpg" width="1020" height="704" /></a>
|
||
</p>
|
||
<h3><span class="mw-headline" id="KR_210">KR 210</span></h3>
|
||
<p><a rel="nofollow" class="external text" href="http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/Lib/Kuka/kr_210_2.pdf">Data sheet</a>
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Kinematik table</b>
|
||
</caption>
|
||
<tr>
|
||
<th> <math>i</math> </th>
|
||
<th> <math>\theta</math> </th>
|
||
<th> <math>d</math> </th>
|
||
<th> <math>a</math> </th>
|
||
<th> <math>\alpha</math> </th>
|
||
<th> <math>\theta_{min}</math> </th>
|
||
<th> <math>\theta_{max}</math> </th>
|
||
<th> Axis Speed
|
||
</th></tr>
|
||
<tr>
|
||
<td> 1 </td>
|
||
<td> 0 </td>
|
||
<td> 750 </td>
|
||
<td> 350 </td>
|
||
<td> -90 </td>
|
||
<td> -185 </td>
|
||
<td> 185 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 2 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 1250 </td>
|
||
<td> 0 </td>
|
||
<td> -155 </td>
|
||
<td> 35 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 3 </td>
|
||
<td> - 90 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 154 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 4 </td>
|
||
<td> 0 </td>
|
||
<td> -1100 </td>
|
||
<td> 0 </td>
|
||
<td> -90 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 5 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 130 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 6 </td>
|
||
<td> 0 </td>
|
||
<td> -230 </td>
|
||
<td> 0 </td>
|
||
<td> 180 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 615
|
||
</td></tr></table>
|
||
<p><br />
|
||
</p>
|
||
<h3><span class="mw-headline" id="KR_500">KR 500</span></h3>
|
||
<p><a rel="nofollow" class="external text" href="http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/Lib/Kuka/kr_500_2.pdf">Data sheet</a>
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Kinematik table</b>
|
||
</caption>
|
||
<tr>
|
||
<th> <math>i</math> </th>
|
||
<th> <math>\theta</math> </th>
|
||
<th> <math>d</math> </th>
|
||
<th> <math>a</math> </th>
|
||
<th> <math>\alpha</math> </th>
|
||
<th> <math>\theta_{min}</math> </th>
|
||
<th> <math>\theta_{max}</math> </th>
|
||
<th> Axis Speed
|
||
</th></tr>
|
||
<tr>
|
||
<td> 1 </td>
|
||
<td> 0 </td>
|
||
<td> 1045 </td>
|
||
<td> 500 </td>
|
||
<td> -90 </td>
|
||
<td> -185 </td>
|
||
<td> 185 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 2 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 1300 </td>
|
||
<td> 0 </td>
|
||
<td> -155 </td>
|
||
<td> 35 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 3 </td>
|
||
<td> - 90 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 154 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 4 </td>
|
||
<td> 0 </td>
|
||
<td> -1025 </td>
|
||
<td> 0 </td>
|
||
<td> -90 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 5 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 130 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 6 </td>
|
||
<td> 0 </td>
|
||
<td> -250 </td>
|
||
<td> 0 </td>
|
||
<td> 180 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 615
|
||
</td></tr></table>
|
||
</div>
|
||
|
||
|
||
|
||
</div>
|
||
|
||
</div><div class="printfooter">
|
||
Online version: "<a dir="ltr" href="https://www.freecadweb.org/wiki/index.php?title=Robot_6-Axis&oldid=177579">http://www.freecadweb.org/wiki/index.php?title=Robot_6-Axis&oldid=177579</a>"</div>
|
||
<div id="catlinks" class="catlinks" data-mw="interface"></div><div class="visualClear"></div>
|
||
</div>
|
||
</div>
|
||
<div id="mw-navigation">
|
||
<h2>Navigation menu</h2>
|
||
|
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