Waypoint Type

Waypoint Type Description

Tool

The waypoint will be represented by the X, Y, Z values, Euler angles, quaternions or rotation vectors in the tool reference frame.
The tool pose describes the position of the tool reference frame relative to the robot base reference frame. It focuses on the positional relationship between the tool and the working space and describes the position and orientation of the tool, such as robotic claw, and welding torch, when the robot performs a task.

Joint positions (JPs)

The waypoint will be represented by the joint positions of the robot.
Joint positions represents the rotation angles of each joint of the robot relative to its initial position or reference position. This description can represent the state of each joint in line with the hardware structure of the robot.

Workobject pose

The waypoint will be represented by the X, Y, Z values, Euler angles, quaternions or rotation vectors in the object reference frame. It focuses on describing the position and orientation of the actual workobjects that need to be operated or handled when the robot is performing tasks.
Workobject pose is the pose of a certain point on the workobject relative to the robot reference frame.

The method to determine the waypoint type is shown in the figure below.

detailed parameter img
Parameter Description

Edit pose

Enter quaternions or Euler angles directly to adjust the pose. You can also copy and paste the pose.

Transform pose

Transform the current pose to a new one. It is suitable for fine-tuning.

Rectify pose

Set the coordinate of P1, P2, and P3 according to the instruction, and then rectify the object pose with the three-point method. It is suitable for scenarios where the objects are tilted and their poses cannot be easily determined. For instance, when a cuboid tilts, its pose is hard to determine. Rectify pose can be used here to calculate the pose of the cuboid and therefore the robot can move to the rectified pose.

Edit JPs

Similar to Edit Pose above; edit the JPs by copying and pasting or editing the JPs in either radians or degrees, which can be switched based on the actual requirement.

move_type_icon1

Get the pose of the simulated robot.

move_type_icon2

Move the simulated robot to the specified waypoint.

move_type_icon3

Show all the joint position solutions to the current waypoint.