120ca87015
git-svn-id: https://free-cad.svn.sourceforge.net/svnroot/free-cad/trunk@5000 e8eeb9e2-ec13-0410-a4a9-efa5cf37419d
107 lines
3.7 KiB
Python
107 lines
3.7 KiB
Python
# Example how to use the basic robot class Robot6Axis which represent a 6-Axis
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# industrial robot. The Robot Module is dependend on Part but nor on other Modules.
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# It works mostly with the basic types Placement, Vector and Matrix. So we need
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# only:
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from Robot import *
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from Part import *
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from FreeCAD import *
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# === Basic robot stuff ===
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# create the robot. If you not specify a other kinematic it becomes a Puma 560
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rob = Robot6Axis()
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print rob
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# accessing the axis and the Tcp. Axis go from 1-6 and are in degrees:
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Start = rob.Tcp
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print Start
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print rob.Axis1
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# move the first Axis of the robot:
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rob.Axis1 = 5.0
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# the Tcp has changed (forward kinematic)
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print rob.Tcp
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# move the robot back to start position (reverse kinematic):
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rob.Tcp = Start
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print rob.Axis1
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# the same with axis 2:
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rob.Axis2 = 5.0
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print rob.Tcp
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rob.Tcp = Start
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print rob.Axis2
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# Waypoints:
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w = Waypoint(Placement(),name="Pt",type="LIN")
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print w.Name,w.Type,w.Pos,w.Cont,w.Velocity,w.Base,w.Tool
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# generate more. The Trajectory find allways outomatically a unique name for the waypoints
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l = [w]
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for i in range(5):
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l.append(Waypoint(Placement(Vector(0,0,i*100),Vector(1,0,0),0),"LIN","Pt"))
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# create a trajectory
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t = Trajectory(l)
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print t
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for i in range(7):
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t.insertWaypoints(Waypoint(Placement(Vector(0,0,i*100+500),Vector(1,0,0),0),"LIN","Pt"))
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# see a list of all waypoints:
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print t.Waypoints
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del rob,Start,t,l,w
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# === working with the document ===
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#
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# Working with the robot document objects:
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# first creat a robot in the active document
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if(App.activeDocument() == None):App.newDocument()
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App.activeDocument().addObject("Robot::RobotObject","Robot")
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# Define the visual representation and the kinematic definition (see [[6-Axis Robot]] for details about that)
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App.activeDocument().Robot.RobotVrmlFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.wrl"
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App.activeDocument().Robot.RobotKinematicFile = App.getResourceDir()+"Mod/Robot/Lib/Kuka/kr500_1.csv"
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# start positon of the Axis (only that which differ from 0)
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App.activeDocument().Robot.Axis2 = -90
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App.activeDocument().Robot.Axis3 = 90
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# retrive the Tcp position
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pos = FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp
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# move the robot
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pos.move(App.Vector(-10,0,0))
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FreeCAD.getDocument("Unnamed").getObject("Robot").Tcp = pos
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# create an empty Trajectory object in the active document
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App.activeDocument().addObject("Robot::TrajectoryObject","Trajectory")
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# get the Trajectory
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t = App.activeDocument().Trajectory.Trajectory
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# add the actual TCP position of the robot to the trajectory
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StartTcp = App.activeDocument().Robot.Tcp
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t.insertWaypoints(StartTcp)
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App.activeDocument().Trajectory.Trajectory = t
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print App.activeDocument().Trajectory.Trajectory
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# insert some more Waypoints and the start point at the end again:
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for i in range(7):
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t.insertWaypoints(Waypoint(Placement(Vector(0,1000,i*100+500),Vector(1,0,0),i),"LIN","Pt"))
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t.insertWaypoints(StartTcp) # end point of the trajectory
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App.activeDocument().Trajectory.Trajectory = t
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print App.activeDocument().Trajectory.Trajectory
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# === Simulation ===
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# To be done..... ;-)
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# === Exporting the trajectory ===
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# the Trajectory is exported by python. That means for every Control Cabinet type is a Post processor
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# python module. Here is in detail the Kuka Postprocessor descriped
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from KukaExporter import ExportCompactSub
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ExportCompactSub(App.activeDocument().Robot,App.activeDocument().Trajectory,'D:/Temp/TestOut.src')
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# and thats kind of how its done:
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for w in App.activeDocument().Trajectory.Trajectory.Waypoints:
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(A,B,C) = (w.Pos.Rotation.toEuler())
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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))
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