203 lines
17 KiB
HTML
203 lines
17 KiB
HTML
<html><head><title>Robot Module/sv</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 Module/sv</h1><span class="mw-redirectedfrom">(Redirected from <a href="https://www.freecadweb.org/wiki/index.php?title=Robot_Module/sv&redirect=no" class="mw-redirect" title="Robot Module/sv">Robot Module/sv</a>)</span></div>
|
|
|
|
<div id="mw-content-text" lang="sv" dir="ltr" class="mw-content-ltr"><hr/>
|
|
<div class="mw-parser-output"></div>
|
|
<div class="floatright"><a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaKR16FreeCAD.jpg" class="image"><img alt="KukaKR16FreeCAD.jpg" src="400px-KukaKR16FreeCAD.jpg" width="400" height="276" srcset="/wiki/images/thumb/c/c5/KukaKR16FreeCAD.jpg/600px-KukaKR16FreeCAD.jpg 1.5x, /wiki/images/thumb/c/c5/KukaKR16FreeCAD.jpg/800px-KukaKR16FreeCAD.jpg 2x" /></a></div>
|
|
<p>Robot arbetsbänken är ett verktyg för simulering av 6-axliga industrirobotar, som t.ex. <a rel="nofollow" class="external text" href="http://kuka.com/">Kuka</a>.
|
|
Denna arbetsbänk är ett pågående arbete för att implementera ett off-line programmeringsverktyg för <a href="https://www.freecadweb.org/wiki/index.php?title=Robot_6-Axis/sv" title="Robot 6-Axis/sv">Robot_6-Axis</a> industrirobotar i FreeCAD.
|
|
You can do following tasks:
|
|
</p>
|
|
<ul><li> set up a simulation environment with a robot and work pieces </li>
|
|
<li> create and fill up trajectories </li>
|
|
<li> decompose features of an CAD part to a trajectory</li>
|
|
<li> simulate the robot movement and reachability </li>
|
|
<li> export the trajectory to a robot program file</li></ul>
|
|
<p>Du kan hitta ett exempel här: <a rel="nofollow" class="external text" href="https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py">Example files</a> or try the <a href="Robot_tutorial.html" title="Robot tutorial">Robot tutorial</a>.
|
|
</p>
|
|
<div id="toc" class="toc"><div class="toctitle"><h2>Contents</h2></div>
|
|
<ul>
|
|
<li class="toclevel-1 tocsection-1"><a href="#Tools"><span class="tocnumber">1</span> <span class="toctext">Tools</span></a>
|
|
<ul>
|
|
<li class="toclevel-2 tocsection-2"><a href="#Robots"><span class="tocnumber">1.1</span> <span class="toctext">Robots</span></a></li>
|
|
<li class="toclevel-2 tocsection-3"><a href="#Trajectories"><span class="tocnumber">1.2</span> <span class="toctext">Trajectories</span></a>
|
|
<ul>
|
|
<li class="toclevel-3 tocsection-4"><a href="#non_parametric_trajectories"><span class="tocnumber">1.2.1</span> <span class="toctext">non parametric trajectories</span></a></li>
|
|
<li class="toclevel-3 tocsection-5"><a href="#parametric_trajectories"><span class="tocnumber">1.2.2</span> <span class="toctext">parametric trajectories</span></a></li>
|
|
</ul>
|
|
</li>
|
|
</ul>
|
|
</li>
|
|
<li class="toclevel-1 tocsection-6"><a href="#Skript"><span class="tocnumber">2</span> <span class="toctext">Skript</span></a>
|
|
<ul>
|
|
<li class="toclevel-2 tocsection-7"><a href="#Grundl.C3.A4ggande_robotsaker"><span class="tocnumber">2.1</span> <span class="toctext">Grundläggande robotsaker</span></a></li>
|
|
<li class="toclevel-2 tocsection-8"><a href="#arbeta_med_dokumentet"><span class="tocnumber">2.2</span> <span class="toctext">arbeta med dokumentet</span></a></li>
|
|
<li class="toclevel-2 tocsection-9"><a href="#Simulation"><span class="tocnumber">2.3</span> <span class="toctext">Simulation</span></a></li>
|
|
<li class="toclevel-2 tocsection-10"><a href="#Exportera_banan"><span class="tocnumber">2.4</span> <span class="toctext">Exportera banan</span></a></li>
|
|
</ul>
|
|
</li>
|
|
<li class="toclevel-1 tocsection-11"><a href="#Tutorials"><span class="tocnumber">3</span> <span class="toctext">Tutorials</span></a></li>
|
|
</ul>
|
|
</div>
|
|
|
|
<h2><span class="mw-headline" id="Tools">Tools</span></h2>
|
|
<p>Here the principal commands you can use to create a robot set-up.
|
|
</p>
|
|
<h3><span class="mw-headline" id="Robots">Robots</span></h3>
|
|
<p>The tools to create and manage the 6-Axis robots
|
|
</p>
|
|
<ul><li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_CreateRobot.png" class="image"><img alt="Robot CreateRobot.png" src="30px-Robot_CreateRobot.png" width="30" height="30" srcset="/wiki/images/thumb/8/8e/Robot_CreateRobot.png/45px-Robot_CreateRobot.png 1.5x, /wiki/images/thumb/8/8e/Robot_CreateRobot.png/60px-Robot_CreateRobot.png 2x" /></a> <a href="Robot_CreateRobot.html" title="Robot CreateRobot">Create a robot</a>: Insert a new robot into the scene</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_Simulate.png" class="image"><img alt="Robot Simulate.png" src="30px-Robot_Simulate.png" width="30" height="30" srcset="/wiki/images/thumb/4/42/Robot_Simulate.png/45px-Robot_Simulate.png 1.5x, /wiki/images/thumb/4/42/Robot_Simulate.png/60px-Robot_Simulate.png 2x" /></a> <a href="Robot_Simulate.html" title="Robot Simulate">Simulate a trajectory</a>: Opens the simulation dialog and lets you simulate </li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_Export.png" class="image"><img alt="Robot Export.png" src="30px-Robot_Export.png" width="30" height="30" srcset="/wiki/images/thumb/8/8e/Robot_Export.png/45px-Robot_Export.png 1.5x, /wiki/images/thumb/8/8e/Robot_Export.png/60px-Robot_Export.png 2x" /></a> <a href="Robot_Export.html" title="Robot Export">Export a trajectory</a>: Export a robot program file</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_SetHomePos.png" class="image"><img alt="Robot SetHomePos.png" src="30px-Robot_SetHomePos.png" width="30" height="30" srcset="/wiki/images/thumb/3/3c/Robot_SetHomePos.png/45px-Robot_SetHomePos.png 1.5x, /wiki/images/thumb/3/3c/Robot_SetHomePos.png/60px-Robot_SetHomePos.png 2x" /></a> <a href="Robot_SetHomePos.html" title="Robot SetHomePos">Set home positon</a>: Set the home position of a robot</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_RestoreHomePos.png" class="image"><img alt="Robot RestoreHomePos.png" src="30px-Robot_RestoreHomePos.png" width="30" height="30" srcset="/wiki/images/thumb/9/95/Robot_RestoreHomePos.png/45px-Robot_RestoreHomePos.png 1.5x, /wiki/images/thumb/9/95/Robot_RestoreHomePos.png/60px-Robot_RestoreHomePos.png 2x" /></a> <a href="Robot_RestoreHomePos.html" title="Robot RestoreHomePos">Restore home positon</a>: move the robot to its home position</li></ul>
|
|
<h3><span class="mw-headline" id="Trajectories">Trajectories</span></h3>
|
|
<p>Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.
|
|
</p>
|
|
<h4><span class="mw-headline" id="non_parametric_trajectories">non parametric trajectories</span></h4>
|
|
<ul><li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_CreateTrajectory.png" class="image"><img alt="Robot CreateTrajectory.png" src="30px-Robot_CreateTrajectory.png" width="30" height="30" srcset="/wiki/images/thumb/9/90/Robot_CreateTrajectory.png/45px-Robot_CreateTrajectory.png 1.5x, /wiki/images/thumb/9/90/Robot_CreateTrajectory.png/60px-Robot_CreateTrajectory.png 2x" /></a> <a href="Robot_CreateTrajectory.html" title="Robot CreateTrajectory">Create a trajectory</a>: Inserts a new empty trajectory-object into the scene</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_SetDefaultOrientation.png" class="image"><img alt="Robot SetDefaultOrientation.png" src="30px-Robot_SetDefaultOrientation.png" width="30" height="30" srcset="/wiki/images/thumb/e/e0/Robot_SetDefaultOrientation.png/45px-Robot_SetDefaultOrientation.png 1.5x, /wiki/images/thumb/e/e0/Robot_SetDefaultOrientation.png/60px-Robot_SetDefaultOrientation.png 2x" /></a> <a href="Robot_SetDefaultOrientation.html" title="Robot SetDefaultOrientation">Set the default orientation</a>: Set the orientation way-points gets created by default</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_SetDefaultValues.png" class="image"><img alt="Robot SetDefaultValues.png" src="30px-Robot_SetDefaultValues.png" width="30" height="30" srcset="/wiki/images/thumb/f/fc/Robot_SetDefaultValues.png/45px-Robot_SetDefaultValues.png 1.5x, /wiki/images/thumb/f/fc/Robot_SetDefaultValues.png/60px-Robot_SetDefaultValues.png 2x" /></a> <a href="Robot_SetDefaultValues.html" title="Robot SetDefaultValues">Set the default speed parameter</a>: Set the default values for way-point creation</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_InsertWaypoint.png" class="image"><img alt="Robot InsertWaypoint.png" src="30px-Robot_InsertWaypoint.png" width="30" height="30" srcset="/wiki/images/thumb/7/74/Robot_InsertWaypoint.png/45px-Robot_InsertWaypoint.png 1.5x, /wiki/images/thumb/7/74/Robot_InsertWaypoint.png/60px-Robot_InsertWaypoint.png 2x" /></a> <a href="Robot_InsertWaypoint.html" title="Robot InsertWaypoint">Insert a waypoint</a>: Insert a way-point from the current robot position into a trajectory</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_InsertWaypointPre.png" class="image"><img alt="Robot InsertWaypointPre.png" src="30px-Robot_InsertWaypointPre.png" width="30" height="30" srcset="/wiki/images/thumb/8/8f/Robot_InsertWaypointPre.png/45px-Robot_InsertWaypointPre.png 1.5x, /wiki/images/thumb/8/8f/Robot_InsertWaypointPre.png/60px-Robot_InsertWaypointPre.png 2x" /></a> <a href="Robot_InsertWaypointPre.html" title="Robot InsertWaypointPre">Insert a waypoint</a>: Insert a way-point from the current mouse position into a trajectory</li></ul>
|
|
<h4><span class="mw-headline" id="parametric_trajectories">parametric trajectories</span></h4>
|
|
<ul><li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_Edge2Trac.png" class="image"><img alt="Robot Edge2Trac.png" src="30px-Robot_Edge2Trac.png" width="30" height="30" srcset="/wiki/images/thumb/a/a7/Robot_Edge2Trac.png/45px-Robot_Edge2Trac.png 1.5x, /wiki/images/thumb/a/a7/Robot_Edge2Trac.png/60px-Robot_Edge2Trac.png 2x" /></a> <a href="Robot_Edge2Trac.html" title="Robot Edge2Trac">Create a trajectory out of edges</a>: Insert a new object which decompose edges to a trajectory</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_TrajectoryDressUp.png" class="image"><img alt="Robot TrajectoryDressUp.png" src="30px-Robot_TrajectoryDressUp.png" width="30" height="30" srcset="/wiki/images/thumb/2/28/Robot_TrajectoryDressUp.png/45px-Robot_TrajectoryDressUp.png 1.5x, /wiki/images/thumb/2/28/Robot_TrajectoryDressUp.png/60px-Robot_TrajectoryDressUp.png 2x" /></a> <a href="Robot_TrajectoryDressUp.html" title="Robot TrajectoryDressUp">Dress-up a trajectory</a>: Lets you override one or more properties of a trajectory</li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_TrajectoryCompound.png" class="image"><img alt="Robot TrajectoryCompound.png" src="30px-Robot_TrajectoryCompound.png" width="30" height="30" srcset="/wiki/images/thumb/f/fb/Robot_TrajectoryCompound.png/45px-Robot_TrajectoryCompound.png 1.5x, /wiki/images/thumb/f/fb/Robot_TrajectoryCompound.png/60px-Robot_TrajectoryCompound.png 2x" /></a> <a href="Robot_TrajectoryCompound.html" title="Robot TrajectoryCompound">Trajectory compound</a>: Create a compound out of some single trajectories</li></ul>
|
|
<h2><span class="mw-headline" id="Skript">Skript</span></h2>
|
|
<p>Detta avsnitt är genererat från: <a rel="nofollow" class="external free" href="https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py">https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py</a>
|
|
Du kan använda den filen direkt, om du vill.
|
|
</p><p>Exempel på hur man använder klassen Robot6Axis, vilken representerar en 6-axlig
|
|
industrirobot. Robot modulen beror på Delmodulen, men inte på andra modulen.
|
|
Den arbetar mest med enkla typer som Placering, Vektor och Matris. Så vi behöver
|
|
bara:
|
|
</p>
|
|
<pre>from Robot import *
|
|
from Part import *
|
|
from FreeCAD import * </pre>
|
|
<h3><span class="mw-headline" id="Grundl.C3.A4ggande_robotsaker">Grundläggande robotsaker</span></h3>
|
|
<p>Skapa roboten. Om du inte specificerar någon annan kinematik så blir det en Puma 560
|
|
</p>
|
|
<pre>rob = Robot6Axis()
|
|
print rob </pre>
|
|
<p>komma åt axlarna och tcp (verktygets centrumpunkt). Axlarna är 1-6 och värdena uttrycks i grader:
|
|
</p>
|
|
<pre>Start = rob.Tcp
|
|
print Start
|
|
print rob.Axis1 </pre>
|
|
<p>flytta robotens första axel:
|
|
</p>
|
|
<pre>rob.Axis1 = 5.0 </pre>
|
|
<p>Tcp har ändrats (framåtgående kinematik)
|
|
</p>
|
|
<pre>print rob.Tcp </pre>
|
|
<p>flytta tillbaka roboten till startpositionen (bakåtgående kinematik):
|
|
</p>
|
|
<pre>rob.Tcp = Start
|
|
print rob.Axis1 </pre>
|
|
<p>samma med axel 2:
|
|
</p>
|
|
<pre>rob.Axis2 = 5.0
|
|
print rob.Tcp
|
|
rob.Tcp = Start
|
|
print rob.Axis2 </pre>
|
|
<p>Banpunkter:
|
|
</p>
|
|
<pre>w = Waypoint(Placement(),name="Pt",type="LIN")
|
|
print w.Name,w.Type,w.Pos,w.Cont,w.Velocity,w.Base,w.Tool </pre>
|
|
<p>generera mer. Banan hittar alltid automatiskt på ett unikt namn för banpunkterna
|
|
</p>
|
|
<pre>l = [w]
|
|
for i in range(5):
|
|
l.append(Waypoint(Placement(Vector(0,0,i*100),Vector(1,0,0),0),"LIN","Pt")) </pre>
|
|
<p>Skapa en bana
|
|
</p>
|
|
<pre>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")) </pre>
|
|
<p>se en lista på alla banpunkter:
|
|
</p>
|
|
<pre>print t.Waypoints
|
|
|
|
del rob,Start,t,l,w </pre>
|
|
<div class="mw-translate-fuzzy">
|
|
<h3><span class="mw-headline" id="arbeta_med_dokumentet">arbeta med dokumentet</span></h3>
|
|
</div>
|
|
<p>Arbeta med robotdokument objekten:
|
|
skapa först en robot i det aktiva dokumentet
|
|
</p>
|
|
<pre>if(App.activeDocument() == None):App.newDocument()
|
|
|
|
App.activeDocument().addObject("Robot::RobotObject","Robot") </pre>
|
|
<p>Definiera den visuella representationen och den kinematiska definitionen (se <a href="https://www.freecadweb.org/wiki/index.php?title=Robot_6-Axis/sv" title="Robot 6-Axis/sv">Robot_6-Axis</a> för detaljer om det)
|
|
</p>
|
|
<pre>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" </pre>
|
|
<p>Axelns startpositon (endast om det skiljer sig från 0)
|
|
</p>
|
|
<pre>App.activeDocument().Robot.Axis2 = -90
|
|
App.activeDocument().Robot.Axis3 = 90 </pre>
|
|
<p>hämta Tcp positionen
|
|
</p>
|
|
<pre>pos = FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp </pre>
|
|
<p>flytta roboten
|
|
</p>
|
|
<pre>pos.move(App.Vector(-10,0,0))
|
|
FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp = pos </pre>
|
|
<p>skapa ett tomt banobjekt i det aktiva dokumentet
|
|
</p>
|
|
<pre>App.activeDocument().addObject("Robot::TrajectoryObject","Trajectory") </pre>
|
|
<p>hämta banan
|
|
</p>
|
|
<pre>t = App.activeDocument().Trajectory.Trajectory </pre>
|
|
<p>lägg till robotens aktuella TCP position till banan
|
|
</p>
|
|
<pre>StartTcp = App.activeDocument().Robot.Tcp
|
|
t.insertWaypoints(StartTcp)
|
|
App.activeDocument().Trajectory.Trajectory = t
|
|
print App.activeDocument().Trajectory.Trajectory </pre>
|
|
<p>sätt in några fler banpunkter och startpunkten i slutet igen:
|
|
</p>
|
|
<pre>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 </pre>
|
|
<h3><span class="mw-headline" id="Simulation">Simulation</span></h3>
|
|
<p>ska göras.....
|
|
</p>
|
|
<h3><span class="mw-headline" id="Exportera_banan">Exportera banan</span></h3>
|
|
<p>Banan exporteras av Python. Det innebär att för varje robotkontroll typ så finns det en post-processor
|
|
Python modul. Här är Kuka post-processorn beskriven i detalj
|
|
</p>
|
|
<pre>from KukaExporter import ExportCompactSub
|
|
|
|
ExportCompactSub(App.activeDocument().Robot,App.activeDocument().Trajectory,'D:/Temp/TestOut.src') </pre>
|
|
<p>och det är ungefär så här det görs:
|
|
</p>
|
|
<pre>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)) </pre>
|
|
<h2><span class="mw-headline" id="Tutorials">Tutorials</span></h2>
|
|
<ul><li> <a href="https://www.freecadweb.org/wiki/index.php?title=Robot_6-Axis/sv" title="Robot 6-Axis/sv">6-Axis_Robot</a> </li>
|
|
<li> <a href="https://www.freecadweb.org/wiki/index.php?title=VRML_Preparation_for_Robot_Simulation/sv" title="VRML Preparation for Robot Simulation/sv">VRML Preparation for Robot Simulation</a></li></ul>
|
|
<p><br />
|
|
</p>
|
|
<div class="mw-translate-fuzzy">
|
|
|
|
</div>
|
|
|
|
|
|
|
|
</div>
|
|
|
|
</div><div class="printfooter">
|
|
Online version: "<a dir="ltr" href="https://www.freecadweb.org/wiki/index.php?title=Robot_Workbench/sv&oldid=290100">http://www.freecadweb.org/wiki/index.php?title=Robot_Workbench/sv&oldid=290100</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>
|
|
|
|
</body></html> |