Robot Motion
Robot Motion
synapse drives manipulators across a range of robot brands. This tutorial covers connecting to the controller, commanding Cartesian and joint-space motion, manual modes (jog, freedrive, teach), and contact handling. For kinematics, servo streaming, state reading, and grippers, see the related robotics tutorials.
Connection and Motion
Connect to a robot, command it to a Cartesian or joint-space target, and stop or safeguard that motion - plus manual modes like jogging, freedrive, and teach mode for moving the robot by hand.
Connection and Disconnection
Establishes and closes robot connections.
View →Set Cartesian Pose
Moves the end-effector to a target Cartesian pose.
View →Set Joint Positions
Commands the robot to specific joint positions.
View →Set Cartesian Pose in Joint Space
Reaches a Cartesian target via joint-space planning.
View →Set Joint Position in Cartesian Space
Commands joint positions while tracking a Cartesian-space path.
View →Move until Contact
Moves the robot along a direction until contact is detected.
View →Stop Cartesian Motion
Stops an ongoing Cartesian motion command.
View →Stop Joint Motion
Stops an ongoing joint motion command.
View →Trigger Protective Stop
Triggers a protective stop to safely halt the robot.
View →Jog Mode
Enables and disables jog mode for incremental manual movement.
View →Freedrive Mode
Enables and disables freedrive (gravity-compensated hand-guiding) mode.
View →Teach Mode
Enables and disables teach mode for recording robot poses.
View →Contact Detection
Detects contact events during robot motion.
View →Force Control
Detect contact through the robot's force sensing, useful for compliant motions and contact-based tasks.
Where to Go Next?
Continue to the next tutorial.
Kinematics
Forward and inverse kinematics, solver setup, and link transforms with Synapse.
Next tutorial →