Jogging the Robot

Either in simulation or while connected the physical robot, you can use Actin UR to make small adjustments to the position and rotation of the end effector. This is known as Jogging. The screen shots below show different methods of jogging and describe how to jog the robot.

Jogging is used for fine adjustments to the tool position. It can be useful in capturing way points or determining the desired offset from a part.

Screen 1 - Jogging TCP

On the side Nav bar, click the jogging icon, highlighted in blue. This presents a 3D view of the robot and the joggint controls. Jogging can move the Tool or the Joints.

Tool Move There are three perspective from which to move the tool: TCP (tool center point), System Frame or the View frame. The View is the easiest to use. It's based on the camera view. The TCP frame will move the tool along the axes shows at the tool.

There are two sets of controls. The top controls (arrows) are for translating the tool. The curved arrows at the bottom are for rotating the tool. Notice that in View frame mode, all the arrows are white. That because the movement corresponds to your view and not the color system or TCP axes.

Screen 2 - Jogging From the View Frame

Try this mode first. You should see the tool move up and down and left and right depending on your view point. Drag your mouse to rotate your view and try again. This mode is the easiest to jog the robot tool into desired position.

Screen 3 - Jogging Joints

You can also jog individual joints on the robbot. This is most usefull when trying to pull back from either a singularity or a collision detection. We suggest you try jogging the wrist joints first as these make the smallest moves.