Jogging Tools

The motion ranges of joints, and the kinematics of different cell objects can be tested and observed in the 3D viewer.

This can be done using the dedicated Jog widget located on the right pane, or through several smaller functions.

Jogging Available Joints

Jog Widget

The jog widget list all joints with motion in either a selected group, or in the entire cell.

Each joint listed in the widget has a slider and an input box used to control the current state of the joint in the 3D viewer.

In addition to these controls, an Edit button to the left of each slider is used to change the label of its associated joint. This label is independent to the name of the joint, and is instead used to only reference the motion joint in both Cell Editor and Verbotics Weld.

Jog Widget

Jog Robot

Robots can be jogged via their flange link and have their inverse kinematics tested in the 3D viewer.

To enable this function, the following will need to be done:

Complete the kinematic structure of the robot
Create a group containing all 6 of the robot’s revolute joints and specify this group in the model configuration.
A flange link needs to be specified in the model configuration for the robot.

This function can be accessed by selecting the robot’s group in the URDF tree. Once selected the 3D viewer will update to show enabled handles positioned on the flange link.

Jogging Robot

Using these handles, the robot can be jogged and will attempt follow the mouse position. If the robot’s kinematics are correct, the robot should follow the mouse movement smoothly.

Note

If the kinematics are incorrect, you may find the robot doesn’t move, or doesn’t correctly follow the mouse.