Explore motion. Plan a transfer. See every joint at work.
Top-down grasp · Coordinated wrist
Press Demonstrate all for an automatic five-part presentation. Or select a part, choose a destination, and run one transfer.
Model: 0.78 m upper arm, 0.72 m forearm, 0.18 m tool offset; 0.30 m shoulder height. X and Y lie on the floor; Z is vertical. Pick-and-place uses analytical position IK and a downward-facing tool, with J4 and J6 fixed. The manual explorer exposes all six revolute axes.
Scope: This is an idealized kinematic teaching model. Paths use clearance waypoints, reach and joint-limit checks, and destination overlap checks. It does not model force, payload dynamics, contact, or full arm/self-collision. Parts attach ideally at grasp; timings are illustrative.
Move one axis at a time to understand the kinematic chain. Automatic motion is unavailable in this mode. Full link collision is not enforced.
