Procedure

• First bring the robot in the ready configuration using DO READY command
• Do the calibration process using the CALI command
• Write the commands in the input pannel and click Go button for that command execution .
• Commands executed can be seen in the "command history" panel .
• The position and orientation of the robot end-effector is vizualized the Transformation matrix panel.
• The view can be rotated about a point by keeping the left mouse button pressed and rotating the mouse.
• The view can be translated by keeping the right mouse button pressed and translating the mouse in the desired direction.
• The scroll button or middle mouse button can be used for zooming.