Introduction
The Robot Workbench is a tool to simulate a standard 6-axis industrial robot, like Kuka.
You can do the following tasks:
- Set up a simulation environment with a robot and work pieces.
- Create and fill up movement trajectories.
- Decompose features of a CAD part to a trajectory.
- Simulate the robot movement and reaching distance.
- Export the trajectory to a robot program file.
To get started try the Robot tutorial, and see the programming interface in the RobotExample.py example file.
Tools
Here the principal commands you can use to create a robot set-up.
Robots
The tools to create and manage the 6-Axis robots
Create a robot: Insert a new robot into the scene
Simulate a trajectory: Opens the simulation dialog and lets you simulate
Export a trajectory: Export a robot program file
Set home position: Set the home position of a robot
Restore home position: move the robot to its home position
Trajectories
Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.
Non parametric trajectories
Create a trajectory: Inserts a new empty trajectory-object into the scene
Set the default orientation: Set the orientation way-points gets created by default
Set the default speed parameter: Set the default values for way-point creation
Insert a waypoint: Insert a way-point from the current robot position into a trajectory
Insert a waypoint preselected: Insert a way-point from the current mouse position into a trajectory
Parametric trajectories
Create a trajectory out of edges: Insert a new object which decompose edges to a trajectory
Dress-up a trajectory: Lets you override one or more properties of a trajectory
Trajectory compound: Create a compound out of some single trajectories
Scripting
See the Robot API example for a description of the functions used to model the robot displacements.
Tutorials