122 lines
3.9 KiB
Python
122 lines
3.9 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 dependent on Part but not 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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import FreeCAD as App
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import tempfile
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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 always 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(
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Waypoint(Placement(Vector(0, 0, i * 100 + 500), Vector(1, 0, 0), 0), "LIN", "Pt")
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)
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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 create a robot in the active document
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if App.activeDocument() is None:
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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 = (
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App.getResourceDir() + "Mod/Robot/Lib/Kuka/kr500_1.csv"
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)
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# start position 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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# retrieve the Tcp position
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pos = App.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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App.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(
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Waypoint(Placement(Vector(0, 1000, i * 100 + 500), Vector(1, 0, 0), i), "LIN", "Pt")
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)
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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 described
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from KukaExporter import ExportCompactSub
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ExportCompactSub(
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App.activeDocument().Robot,
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App.activeDocument().Trajectory,
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tempfile.gettempdir() + "/TestOut.src",
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)
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# and that's 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(
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"LIN {X %.3f,Y %.3f,Z %.3f,A %.3f,B %.3f,C %.3f} ; %s"
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% (w.Pos.Base.x, w.Pos.Base.y, w.Pos.Base.z, A, B, C, w.Name)
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)
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