RobWorld

Introduction

RobWorld is a tool, that allows you to select a world frame for a robot. Otherwise the default FreeCAD frame would have to be used, which might be inconvinient. It can be positioned using X, Y and Z displacemnts and Yaw-Pitch-Roll angles applied in this order.

Usage

RobWorld tool's position inside
an example Animate tool tree.
  1. Install Animate workbench if you haven't done so already.
  2. Open a file in FreeCAD.
  3. Select Animate workbench on the workbench toolbar.
  4. Click on RobWorld's icon on Animate toolbar or select Robotics > RobWorld in Animate menu.
  5. Open a Combo View ( View > Panels > Combo View ).
  6. Select RobWorld tool in a tree view on a Model Tab inside the Combo View.
  7. Go to Frame Placement properties on a Data Tab inside the Combo View.
  8. Fill properties to select world frame placement.
  9. Change more properties according to your preferences, their meanings are explained in the next section.

Properties

Property / Property Group Description
Base FreeCAD properties necessary for correct display in the tree view.
Label Name of this RobTranslation tool shown in the tree view.
Group A list of children to be shown in the tree view.
Frame Properties controlling look of a coordinate frame.
Frame Arrowhead Length Height of a cone making frame's arrowhead. Must be in range between 1 and 1e6.
Frame Arrowhead Radius Radius of a cone making frame's arrowhead. Must be in range between .5 and 1e6.
Frame Transparency Frame transparency in percents. Total transparency is 100.
Shaft Length Length of an arrow's shaft. Must be in range between 1 and 1e6.
Shaft Width Width of an arrow's shaft. Must be in range between 1 and 64.
Show Frame Toggle coordinate frame.
Show Frame Arrowheads Toggle coordinate frame's arrowheads.
Show Frame Labels Toggle coordinate frame's axis labels.
General Main properties controlling overall behavior.
Allow Server Allow control to change RobWorld's parameters. Not implemented.
Label Properties specifying how labels look.
Distance To Axis Distance between a label and an arrowhead if it's visible or an arrow shaft.
Font Family Label font family - SERIF, SANS, TYPEWRITER.
Font Size Label font size.
Font Style Label font style - NONE, ITALIC, BOLD, BOLD ITALIC.
Subscription Label subscription - use spaces for horizontal alignment.
Superscription Label superscription - use spaces for horizontal alignment.
Frame Placement Properties specifying world frame placement.
Angle Yaw The first applied angle specifying rotation about Z axis
Angle Pitch The second applied angle specifying rotation about Y axis after yaw rotation is done.
Angle Roll The third applied angle specifying rotation about X axis after pitch rotation is done.
Position X Frame displacement along X axis.
Position Y Frame displacement along Y axis.
Position Z Frame displacement along Z axis.