move(1)

NAME
move -- RCI program to move the robot to a specified joint position.

USAGE
move [<robotName>] (to|by) (<posName>|<jointSpec>)
     [-on] [-sim[=<simaddr>]]

DESCRIPTION
Program used to move to a specified joint position.

ARGUMENTS

robotName --
    Optional robot name. If absent, the name is obtained from the system file $RCCL/conf/defaultRobot.

to --
    Indicates that the robot is to be moved to the specified joint values. The joint values can be described either in line explicitly (see jointSpec, below), or by giving the name of a predefined joint position. In the latter case, the program will try to find the position in the file $RCCL/conf/<robotName>.pos, using the routine getRobotPosition() (q.v.).

by --
    Indicates that the robot is to be moved by the specified joint values, relative to its current position. For this mode, the user must give a jointSpec; predefined positions can't be used as relative joint offsets.

posName --
    Name of a predefined robot joint position.

jointSpec --
    An in-line joint value specification. This consists of joint values, in degrees or millimeters, separated by commas. The syntax is actually very similar to that used by the Unimation language VAL: joint values can be left undefined by truncating the joint spec and/or not putting anything between commas. For relative (by) motions, undefined values are treated as zero. For absolute motions, the current value of the robot joint is used instead. As an example, to move joint three of a robot by 90 degrees, the following command could be issued:
                        move <robotName> by ,,90.0

    Similarly, to move only joint 4 to 45 degrees, the following command could be issued:
                        move <robotName> to ,,,45.0

    White space in the command line between commas or joint values has no effect, although joint values themselves should not contain white space: "90 .5" vs. "90.5" or "- 45.0" vs. "-45.0" should cause the program to complain.

-on --
    Option instructing the program to leave the robot power on when it exits.

-sim --
    Instructs the program to use the robot simulator instead of the real thing.

    If unqualified, the -sim option causes the program to seek a simulator running on the same machine under the same user name. A different simulator can be specified by adding an address string <simaddr>, as in -sim=<simaddr>. For the format of this address string, see simAddress(5).

CAVEATS
Relative moves tend to be safer than absolute ones, since it is easier to visualize where the robot will end up as a result of a relative change to the existing position.