Robot Workbench
The reason this workbench is still in the master source code is because this workbench is programmed in C++. If this workbench could be programmed in Python, then it could be made an external workbench and it could be moved to a separate repository.
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
- Trajectories, non parametric: Create a trajectory, Set default orientation, Set default values, Insert waypoint, Insert waypoint (mouse)
- Trajectories, parametric: Create a trajectory from edges, Dress-up trajectory, Trajectory compound
![](https://wiki.freecad.org/images/thumb/9/94/User_hub.png/24px-User_hub.png)
- Getting started
- Installation: Download, Windows, Linux, Mac, Additional components, Docker, AppImage, Ubuntu Snap
- Basics: About FreeCAD, Interface, Mouse navigation, Selection methods, Object name, Preferences, Workbenches, Document structure, Properties, Help FreeCAD, Donate
- Help: Tutorials, Video tutorials
- Workbenches: Std Base, Assembly, BIM, CAM, Draft, FEM, Inspection, Material, Mesh, OpenSCAD, Part, PartDesign, Points, Reverse Engineering, Robot, Sketcher, Spreadsheet, Surface, TechDraw, Test Framework
- Hubs: User hub, Power users hub, Developer hub