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