Jog It, Automate It, Check It

Record poses and grips as steps, then check the whole task. Record keeps each joint to 0.1°. Each move is checked along its path, as a joint move (every joint turns steadily from one pose to the next), not only where it ends.

Simulated check · not the arm's safety supervisor

Every limit has a kind. A safety alert is about a limit a real arm or cell must never cross: the workspace, a keep-out zone, the payload, a solid fixture, or a joint past what UFACTORY publishes. A teaching alert is about a move inside what the arm can do but past an operating limit set for this bench, or a step that cannot be done from where the arm is (no posture reaches it, or there is nothing to grip or release). Here a move past a limit runs and is marked ⚠ ran past a limit. It is refused (⊘) when a joint goes past UFACTORY's range, when the tool or the held part meets the bench, or when a step cannot be done at all.

The ideal part never slips, so grip force and friction are not checked here. The payload check counts the tool's mass as well as the part's. Joint limits, the workspace, the keep-out zones and the bench are checked at every sampled pose of each move. The workspace box, the keep-out zones and their clearance, and the joint margin are set for this bench; the payload limit is UFACTORY's published payload for the arm. Joint limits here are UFACTORY's published ranges less the margin; a cell can be set up with narrower ones.