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Insert in Trajectory (Tool Position)

In one sentence: Append the robot's current TCP placement as a new waypoint to the selected trajectory.

Overview

Workbench: Robot
Menu: Robot → Insert in Trajectory
Shortcut: none

Deprecated workbench

The Robot workbench is deprecated as of FreeCAD 1.0.

Reads the current TCP (Tool Centre Point) from the selected robot and appends it as a new waypoint to the selected trajectory. The waypoint's motion type (LIN or PTP), velocity, and frame assignments use the current default values.

Intuition

You manually jog the robot to the position you want it to visit, then press this button to record that position in the trajectory. Repeat for each target point.

When to use it

  • Creating a trajectory interactively by positioning the robot at each target and recording the pose.

Step-by-step

  1. Select one Robot::RobotObject and one Robot::TrajectoryObject.
  2. Use the Robot Control panel to set the joint angles to the desired pose.
  3. Confirm the TCP is at the intended position.
  4. Choose Robot → Insert in Trajectory.
  5. A new waypoint is added at the end of the trajectory.

See also