Robot_project.md

Robot project

** This roadmap is probably obsolete. For more information see Development roadmap.
If you are not involved with the development discussed here:
!!! PLEASE DO NOT EDIT OR TRANSLATE !!! **

This is the project article for the Robot project. It follows the rules of the [http://en.wikipedia.org/wiki/Getting_Things_Done#GTD_methodology| Getting things done] process. The projects are collected in the Development roadmap.

Purpose and principles

This project should lay down the principal technologies for a realistic robot simulation in FreeCAD. In the first step it targets the standard 6-axis industrial robot.

Outcome

Robot simulation

Brainstorming

Libs in field

• OROCOS portable C++ libraries for advanced machine and robot control
• ROBOOP A robotics object oriented package in C++
• Beremiz an OpenSource PLC.

Standards for communication

• OPC UA a machine to machine communication protocol for industrial automation (PLC)
• 1 German initiative to improve the accuracy of robot controllers and optimize offline robot programming
• Realistic Robot Simulation (RRS) RRS-2, Virtual Robot Controller (VRC) Interface

Middleware for comunication

• D-Bus a software bus, an inter-process communication (IPC), and a remote procedure call (RPC) mechanism that allows communication between multiple computer programs
• CORBA enables collaboration between systems on different operating systems, programming languages, and computing hardware

Commercial products in that field

• Visual Components
• Delmia
• KUKA Sim

Knowledge

• Kinematic definition --> link outdated!!!
• Denavit--Hartenberg parameters parameters associated with a particular convention for attaching reference frames to the links of robot manipulator
• Roboter VRML modele --> link outdated!!!

Organizing

• Visual representation of 6-Axis robots (done)
• Forward and inverse kinematic calculation of arbitrary robots (done)
• RobotLib, dynamic readably robot types (work in progress)
• Trajectory simulation (work in progress)
  • collision simulation
  • detection of configuration changes and singularities
  • time estimation
  • used volume (planed)
• Post processor for Kuka robots (work in progress)
• Process and work cell control (planed)
• Movie making out of simulation (planed)

Next actions

• Trajectory and Waypoint management.

Category:Roadmap

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