User Manual

CHAPTER 1
Simulator
The Simulator shows a side elevation representation of the robot arm on the left-hand side and a top
elevation of the arm (view from above) on the right-hand side.
You can directly manipulate these representations in order to position the arm using the mouse. There
are also fine adjustment controls and numerical representations of the position that you can edit for
ultimate precision.
Side Elevation Controls
The side elevation gives you the
most control over arm position.
There are a number of different
ways of interacting with the arm
on screen. We'll go through these
one-by-one.
Move to Target
Clicking anywhere in the side elevation will move the arms hand position to exactly where you clicked.
The shoulder and elbow are defined using Inverse Kinematics so all you need to do is focus on where
you want the arm to go.
Drag
Having clicked you can then hold the mouse button and drag the arm around to find the position you
want.
Base
If you hold the SHIFT key while dragging with the mouse you can control base rotation.
Hand Tilt
You can tilt the hand by right-clicking and fragging the mouse up and down.
Wrist Rotate
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