Jogging

Moving the robot manually is called jogging. On the teach pendant, a section of the interface is reserved to jog the robot in its workspace, either in the joint space by moving individually each joint to a desired angle while observing the robot’s physical movement, or in task space, by moving the tool in cartesian space, by translating or rotating in the X, Y or Z direction. It is also possible to move the tool in various coordinate systems, for example if we desire to move the tool straight up, we can select the Base coordinate system of the robot and move up in the Z direction. If we have defined a work coordinate system on a sheet of paper, we can select this coordinate system and move the tool relative to it, which greatly simplify movements by not having to transform known local coordinates (a point’s XY coordinates on a sheet of paper), into the absolute coordinate system of the robot: the robot controller will do it for us.