Franka Emika Panda - Selecting Guiding Modes

Franka Emika GmbH © October 2018
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• Translaon: in guiding mode, the Arm can only be moved to change the
Cartesian posion of the end eector; its orientaon remains as it was before
entering the guiding mode
• Rotaon: in guiding mode, the Arm can only be moved to change the Car-
tesian orientaon of the end eector; its posion remains as it was before
entering guiding mode. The reference coordinate system for this rotaon is
the predened coordinate system of the end eector
• Free: the Arm can be moved completely freely, all 7 joints can be moved freely
• User: the user can freely dene the guiding behavior in this mode, meaning
that it is possible to dene for each Cartesian translaon and rotaon axis if it
is movable or immovable
In guiding mode, movements of the Arm follow the corresponding guiding con-
guraon, which is displayed in the sidebar. The guiding conguraon can be
changed by pressing the guiding mode buon on top of the grip. You can also
select the desired conguraon from the sidebar.
Guiding mode
INTERACTING & PROGRAMMING