From A to B

Bringing the robot to move into a sequence of points, commonly referred to as waypoints, means we have to figure out where these are defined in space, either as a set of joint values, or as spatial coordinates. As we saw above, while the robot can be moved in a particular location, we can describe its current position by either looking at the joint space: the current angle of each of its 6 joints, or in the task space: the cartesian coordinates describing the current translation and rotation of the tool. Depending on the application, there are advantages to using one or the other.