User Guide

Reference:
1. Change motion mode
2. Change active robot
3. Open / close gripper
4. Record a motion point
5. Change button
assignment:
when pressed it is not
+X, but +B
Pic. 10: Assignment of keys for the joypad. Upper markings for Cartesian mode, lower for joint mode.
5.4 Moving the Robot using the Graphics
An alternative to the joypad is to drag the robot in the graphical 3D environment.
When selecting a joint of the robot with the left mouse button, the joint outlines
blink red. When selecting the joint and moving the mouse with pressed left mouse
button this joint will rotate forward or backward, depending on the mouse motion.
Pic. 10: Joint and coordinate system outlines after selecting with the mouse.
The motions are possible in simulation and with the real robot. They are also scaled
with the override buttons.