106 lines
7.7 KiB
HTML
106 lines
7.7 KiB
HTML
<html><head><title>Robot tutorial</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 tutorial</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">Beginner
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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">
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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">r-frank
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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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<td class="ctEven">0.16.6703
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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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<td class="ctEven">
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</td></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="#Before_you_begin"><span class="tocnumber">2</span> <span class="toctext">Before you begin</span></a></li>
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<li class="toclevel-1 tocsection-2"><a href="#Setting_up_the_scene"><span class="tocnumber">3</span> <span class="toctext">Setting up the scene</span></a></li>
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<li class="toclevel-1 tocsection-3"><a href="#Setting_up_a_trajectory"><span class="tocnumber">4</span> <span class="toctext">Setting up a trajectory</span></a></li>
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<li class="toclevel-1 tocsection-4"><a href="#Simulating_robot_movement"><span class="tocnumber">5</span> <span class="toctext">Simulating robot movement</span></a></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 tutorial is here to teach you how to use the <a href="Robot_Workbench.html" title="Robot Workbench">Robot Workbench</a> to simulate a robot cell set-up.
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</p>
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<h2><span class="mw-headline" id="Before_you_begin">Before you begin</span></h2>
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<p>This tutorial is written for FreeCAD Version 0.16.6703 or higher. So if you don't have FreeCAD on your
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computer go to the <a href="Download.html" title="Download">Download</a> page and do the installation.
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</p><p>This tutorial is targeting on the use of <a rel="nofollow" class="external text" href="http://en.wikipedia.org/wiki/Industrial_robot">industrial robots</a>
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and not mobile or service robots (see <a rel="nofollow" class="external text" href="http://en.wikipedia.org/wiki/Robot#Modern_robots">here</a>).
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</p>
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<h2><span class="mw-headline" id="Setting_up_the_scene">Setting up the scene</span></h2>
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<ol><li>Switch to the <a href="Robot_Workbench.html" title="Robot Workbench">Robot Workbench</a></li>
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<li>Create a new document by choosing <span style="background: #DDDDDD; border: 1px solid #888888; padding: 0px 5px 1px 5px;"> File </span> → <span style="background: #DDDDDD; border: 1px solid #888888; padding: 0px 5px 1px 5px;"> New </span> from the top menu</li>
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<li>Insert a Kuka IR500 robot into the scene by choosing <span style="background: #DDDDDD; border: 1px solid #888888; padding: 0px 5px 1px 5px;"> Robot </span> → <span style="background: #DDDDDD; border: 1px solid #888888; padding: 0px 5px 1px 5px;"> Insert Robots </span> → <span style="background: #DDDDDD; border: 1px solid #888888; padding: 0px 5px 1px 5px;"> Kuka IR500 </span> from the top menu</li>
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<li>Change to axonometric view by clicking on <a href="https://www.freecadweb.org/wiki/index.php?title=File:View-axometric.png" class="image"><img alt="View-axometric.png" src="32px-View-axometric.png" width="32" height="32" srcset="/wiki/images/thumb/8/8a/View-axometric.png/48px-View-axometric.png 1.5x, /wiki/images/8/8a/View-axometric.png 2x" /></a></li>
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<li>Zoom to fit all by clicking on <a href="https://www.freecadweb.org/wiki/index.php?title=File:View-zoom-all.png" class="image"><img alt="View-zoom-all.png" src="32px-View-zoom-all.png" width="32" height="35" srcset="/wiki/images/7/7b/View-zoom-all.png 1.5x" /></a></li>
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<li>Save your file ...</li></ol>
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<h2><span class="mw-headline" id="Setting_up_a_trajectory">Setting up a trajectory</span></h2>
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<ol><li>Switch to the <a href="Robot_Workbench.html" title="Robot Workbench">Robot Workbench</a></li>
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<li>Activate the model-tab in the tree view by clicking on it</li>
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<li>Create a new trajectory by clicking on <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_CreateTrajectory.png" class="image"><img alt="Robot CreateTrajectory.png" src="32px-Robot_CreateTrajectory.png" width="32" height="32" srcset="/wiki/images/thumb/9/90/Robot_CreateTrajectory.png/48px-Robot_CreateTrajectory.png 1.5x, /wiki/images/9/90/Robot_CreateTrajectory.png 2x" /></a></li>
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<li>Select the robot in the tree view</li>
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<li>Set home position for robot by clicking on <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_SetHomePos.png" class="image"><img alt="Robot SetHomePos.png" src="32px-Robot_SetHomePos.png" width="32" height="32" srcset="/wiki/images/thumb/3/3c/Robot_SetHomePos.png/48px-Robot_SetHomePos.png 1.5x, /wiki/images/3/3c/Robot_SetHomePos.png 2x" /></a></li>
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<li>Switch to the Task Panel</li>
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<li>By using the sliders change robot position</li>
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<li>When robot and trajectory are selected in tree view clicking on <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_InsertWaypoint.png" class="image"><img alt="Robot InsertWaypoint.png" src="32px-Robot_InsertWaypoint.png" width="32" height="32" srcset="/wiki/images/thumb/7/74/Robot_InsertWaypoint.png/48px-Robot_InsertWaypoint.png 1.5x, /wiki/images/7/74/Robot_InsertWaypoint.png 2x" /></a> will insert the way-point in the trajectory</li>
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<li>Each way-point is shown with a yellow cross, the waypoints are connected with orange lines</li>
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<li>Define at least three different way points and insert them in the trajectory</li></ol>
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<h2><span class="mw-headline" id="Simulating_robot_movement">Simulating robot movement</span></h2>
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<ol><li>Select robot and trajectory in tree view</li>
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<li>Select simulation by clicking on <a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_Simulate.png" class="image"><img alt="Robot Simulate.png" src="32px-Robot_Simulate.png" width="32" height="32" srcset="/wiki/images/thumb/4/42/Robot_Simulate.png/48px-Robot_Simulate.png 1.5x, /wiki/images/4/42/Robot_Simulate.png 2x" /></a></li>
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<li>Click on Play-Button <span style="background: #DDDDDD; border: 1px solid #888888; padding: 0px 5px 1px 5px;"> I> </span></li>
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<li>Watch simulation</li></ol>
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<p><a href="https://www.freecadweb.org/wiki/index.php?title=File:Robot_Tutorial_RobotSimulation.gif" class="image"><img alt="Robot Tutorial RobotSimulation.gif" src="Robot_Tutorial_RobotSimulation.gif" width="461" height="419" /></a>
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</p><p><br />
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</p>
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<div style="clear:both"></div>
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</div>
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</div>
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</div><div class="printfooter">
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Online version: "<a dir="ltr" href="https://www.freecadweb.org/wiki/index.php?title=Robot_tutorial&oldid=196210">http://www.freecadweb.org/wiki/index.php?title=Robot_tutorial&oldid=196210</a>"</div>
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<div id="catlinks" class="catlinks" data-mw="interface"></div><div class="visualClear"></div>
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</div>
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</div>
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<div id="mw-navigation">
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<h2>Navigation menu</h2>
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</body></html> |