Up until now, our focus has primarily been on getting the robot's end effector to a specific position and orientation, which is essential for tasks like pick and place applications.

However, there are scenarios where more complex movements are required, such as glue deposition along the edge of a substrate.

To achieve such intricate tasks, we introduce the concept of waypoints. Imagine needing to draw a circle using the robot - this would involve breaking down the circle into multiple points in a 3D space (x, y, z coordinates).

The end effector then follows a path that encompasses all these points, ensuring precise movement along the desired trajectory.

When we talk about using waypoints in robotics, we are essentially defining a series of specific positions that the end effector must travel through to complete a task accurately.

These waypoints act as a roadmap for the robot, guiding it along a predefined path to achieve the desired outcome. By strategically planning and implementing waypoints, we can enable the robot to perform intricate tasks that go beyond simple point-to-point movements, opening up a world of possibilities for advanced applications in manufacturing, painting, welding, and more.

In essence, waypoints play a crucial role in enhancing the capabilities of robotic systems by enabling them to perform complex movements with precision and accuracy. Whether it's following a curved path, tracing the outline of an object, or executing intricate patterns (like CNC application) waypoints allow robots to navigate through intricate tasks effectively.