• linear (for the linear stage)
• stage (for the test stage and turn table)
• thumper (for the puma260)
• gantry (for the gantry)

Moving the Gantry, Stages, and Robots

To move that gantry and stages, you can use the move command, which takes the name of the device to be moved, followed by a set of joint coordinates.

    % move gantry to 270,-620,-260,52,-15
    % move stage to 0,0,-45
    % move linear to 450

The move command is only available on kiewa, and it takes the general form

    % move [<robotname>] (to|by) <list of joint values>

For example,

    % move gantry to 500,100,0,0,0

will cause the gantry joints to move to the values 500, 100, 0, 0, 0.

    % move gantry by 100,100,-20 

will cause the first 3 gantry joints to be moved relatively by 100, 100, and -20. Joints not specified in the 'move' argument list are not moved.

The names of the robots are

• linear (for the linear stage)
• stage (for the test station)
• thumper (for the puma260)
• gantry (for the gantry)

If you don't specify a name, the default is thumper (the puma).

To find out where a robot is, you can do

    % move <robotname> by 0

and this will print out the joints where the robot is currently at. You can also run

    % free <robotname>

and type 'show' after the prompt.

-- WolfgangHeidrich - 24 Nov 2005