type: function

description: Move the robotic arm end-effector to a specified 3D coordinate in the workspace. The arm plans a collision-free path from current position to the target. Optionally control movement speed for precision or efficiency.

type: object

type: number

description: Target X coordinate in millimeters relative to the robot base frame. Positive X points forward away from the base. Valid range depends on arm reach, typically -800 to 800 mm.

description: Target Y coordinate in millimeters relative to the robot base frame. Positive Y points left when facing the robot. Valid range typically -800 to 800 mm.

description: Target Z coordinate in millimeters relative to the robot base frame (table surface = 0). Positive Z points upward. Must be >= 0 to avoid collision with work surface. Typical range: 0 to 500 mm.

type: string

description: Movement speed profile. 'slow': 25% max velocity, for precision placement and delicate parts. 'normal': 50% max velocity, for standard pick-and-place. 'fast': 100% max velocity, for rapid repositioning. Default is 'normal'.

required: x y z


grip

description: Close the gripper jaws to grasp an object at the current end-effector position. The gripper applies the specified force and holds it. Must be called after positioning the arm at the target object.

description: Gripping force in Newtons. Choose based on object fragility: 10N for light/fragile items (electronics, thin plastic), 50N for medium items (standard gears, metal parts), 100N for heavy/robust items (large castings, steel blocks). Excessive force may damage delicate workpieces.


release

description: Open the gripper jaws to release the currently held object. The gripper fully opens to maximum width. Should be called after positioning the arm at the target placement location. Ensure the object is at a safe height above the surface before releasing.


rotate

description: Rotate the end-effector around a specified axis without changing its position. Used to orient the gripper for proper approach angle before grasping, or to rotate a held workpiece for assembly alignment.

description: Rotation axis in the end-effector frame. 'roll': rotate around the approach direction (like turning a screwdriver). 'pitch': tilt end-effector up/down (like nodding). 'yaw': swing end-effector left/right (like shaking head).

description: Rotation angle in degrees. Positive values follow the right-hand rule. Typical range: -180 to 180. Small angles (< 15°) for fine adjustment, larger for major reorientation.

required: axis angle


home

description: Return the robotic arm to its predefined home position (0, 0, 500) with gripper pointing straight down and jaws open. Use as a safe starting/ending position for task sequences, or to clear the workspace.