Tool Center Point
- This is the geometrical center of the clamps at the end of the effector
moveJ (Joint)
- this is called Joint Motion
- it is used when the path of motion is not important
- such as in free space
moveL (Linear)
- linear straight motion from 1 waypoint to another
- pick or place an item
- path of TCP is important
moveP(Process)
- somewhat similar to moveL
- but it moves at constant speed throughout
- good if the arm is a process of releasing glue and we want it to be constant pace
- a normal straight path from A to B, like a corner of a rectangle, becomes a rectangle with rounded edges
- the curve at an edge is called Curve Radius
- we need waypoint A (starting), via waypoint (which is the midpoint the motion will pass through), and finally waypoint B (which is the ending waypoint of the motion)
Degree of Freedom (DOF)
- to see if a joint or link is able to move, that will produce a unique point in space
- for UR5E, 6 dof