The user teaches the three corners of the matrix, giving the number of rows and collumns. INTO which moves into position n via a position directly above n. Object Database Objects may also be created. Commands such as GET and PUT then operate the gripper and at the same time transfer the object logically in memory between the location and the gripper. The system builds up a database of objects throughout the workspace so the locations of all objects are known.
Unique objects know where they are.
Software interlocks prevent accidents for example prevent the robot placing an object where there already is one. You can also program intelligent decisions about objects, for example a different path if holding a certain object, or a different location of objects of a certain type. The code is short, concise and efficient. The amount of memory used is amazingly small. Objects also prevent collisions and mistakes.