Recording a Series of Waypoints

A program can be built by jogging or hand guiding the robot to a sequence of positions that can be recorded as waypoints in a program. Each movement from a waypoint to another can be defined as a joint move, if we desire to move in joint space, or as a linear move if we desire the tool to follow a straight line in task space. The speed and acceleration from one waypoint to another can be adjusted for each segment of the program. It is possible to go back to a programmed waypoint and update its position if needing to adjust it. A program can be executed, usually with a Play/Pause/Stop interface, or played step-by-step.