Robotics Terms

Jacobian

End-effector velocity is related to joint speeds by this matrix of first-order partial derivatives.

Energy Source

Energy is provided by conversion of various types of sources such as chemical, thermal, mechanical etc.

Maintenance

Ensuring that robots and manufacturing systems are working properly and repairing any problems observed.

Direct Numerical Control (DNC)

Equipment that is controlled numerically receives data inputs from a computer.

Limiting Device

A separate apparatus that places a restriction on the maximum envelope. This restriction occurs by terminating motion of the robot.

Feedback

A signal from the robot equipment about conditions as they actually exist, rather than as the computer has directed them to exist.

Industrial Robot System

A system of robots, machinery, and devices that are programmed to perform operations while incorporating an interface.

Mobile Robot

A type of robot with its own engine or power able to move without constraints on its path.

Joint Motion

A way to regulate the joint's movement so that all reach the specified position at the same time.

Drive Power

Actuators convert this source of energy into usable energy for the robot's movement.

Industrial Equipment

Machinery capable of executing industrial operations.

Acceleration-level

Mathematical formulations working with the change in joint speeds with respect to time. Integrating accelerations twice provides displacements. See position-level and velocity-level.

Bio-mimetic

Mimicking natural biology

Exponential Assembly

Nanorobots replicate themselves repeatedly.

Linearly Dependent

Numbers or functions related by addition, subtraction or multiplying by a scalar.

Autonomous

Operating without pre-programmed behaviors and without supervision from humans.

Kawasaki Robots

Producer of the original Industrial Robot in 1969 in Japan.

Analytical methods

Purely mathematical methods that do not require iteration.

Compensator

Remote Compliance Center Device from ATI using three to twelve elastomeric shear pads to aid in the insertion of peg-in-hole applications.

Emergency Stop

This control immediately stops motion and tasks of the system by cutting off the drive power.

Dynamic Model

This model shows the forces causing the robots movement.

Direct search

Trial solutions are used to search for a numerical answer as opposed to carefully solving the derivatives.

Muting

Turning off the presence-sensing safeguarding device during a part of robot operation.

LaGrange multipliers

Use allows for an unconstrained problem with performance criteria as opposed to a constrained problem with equality constraints.

Mechanical

Use of machines and apparatuses.

Conservative motion

The end-effector and joints always move in their specific route.

Equality constraint

The end-effector's change of position, movement and location must be equal to a certain number.

Computer-Aided Design

(CAD) Computer software is used to develop and/or alter all aspects of design such as the end product, the system, machinery used etc.

Fixed Automation

(Hard Automation) Automated, electronically controlled system for simple, straight or circular. These systems are mainly used for large production runs where little flexibility is required.

Nanotechnology

(Molecular Manufacturing) The science of studying and inventing products on the small scale of the molecular level.

Compensator

A remote device that involves multiple shear pads to help peg-in-hole operations. The shear pads are elastomers, also known as polymers and the device uses three to twelve of these shear pads.

Integrator

A company that combines and coordinates separate parts or elements into a unified whole using mechanical means.

Inequality Constraint

A limitation of a feature that may vary such as joint movement, speed, and torque.

Industrial Robot

A manipulator that is designed to perform various programmed tasks during manufacturing. Industrial robots are automated by a program that controls its duties that tend to be dangerous or difficult for humans.

Motoman

A manufacturer of multiple robots with the abilities to perform various tasks.

Manufacturing Robot

A mechanical device that uses automation to transform raw materials into finished goods for sale.

Iteration

A method of solving a problem by repeating the same procedure to find a more exact solution.

Error function

A number is chosen to stand for a discrepancy in the actual value and the desired value for a dependent variable.

Hazardous Motion

A possible dangerous or harmful motion.

Hazard

A possible dangerous or harmful situation.

Manipulator

Allows for movement of a part through multiple joints on the mechanical device also known as the arm of the robot.

Internal Sensor

An apparatus within the manipulator arm that sends information on motion to a control unit.

Control Device

An instrument that allows a person to have control over a robot or automated system for times such as startup or an emergency.

Kinematics

Analysis of motion by leaving out information of forces.

Dynamics

Analysis of the causes of motion by the sources of forces and energy.

Human-Computer Interaction (HCI)

Analysis of the relationship of computers and humans.

Numerical methods

Analytical procedures or heuristics repeatedly used by a computer to find a solution.

End-Effector

Any object attached to the robot flange (wrist) that serves a function. This would include robotic grippers, robotic tool changers, robotic crash protection, robotic rotary joint, robotic press tooling, compliance device, robotic paint gun, robotic deburring tool, robotic arc welding gun, robotic transgun, etc. End effector is also known as robotic peripheral, robotic accessory, robot or robotic tool, end of arm (EOA) tooling, or end-of-arm device. End effector may also be hyphenated as "end-effector."

Computer-Aided Manufacturing (CAM)

Computer software is used to design and/or alter the manufacturing process.

Inverse Kinematics

Determination of a joint's overall change in position based on restrictions on the end-effectors motion of a robot.

Device

Hardware used to control various parts of a system.

Mechanization

Integration of machinery and equipment into manufacturing processes.

Closed-form

Iteration or repeated approximation to find a solution for this problem formulation.

Collision Sensor

Robotic end effector or device that can detect a crash before or during a collision of the robot or its tool. Collision sensors send a signal back to the robot controller before or during a collision to have the robot avoid the collision or stop before or during a collision. Robotic crash protection devices are collision sensors that detect the collision during the crash. A collision sensor is also know as a robot safety joint, robot overload protection device, crash protection device, quickstop (trademark of Applied Robotics), robot safety mount, robotic clutch, and robotic collision protector.

Industrial Robotics

The idea of incorporation of a robot system for production.

Maximum Envelope Space

The largest area that all parts of the robot cover with its various movements.

Motion axis

The line defining the axis of motion either linear or rotary, of a segment of a manipulator.

Coordinated Straight Line Motion

The Tool Center Point follows a specific path allowing the axes of the robot to come to their specified end points at the same time. This allows for a smooth operation of movement.

Flexible Automation

The ability for a robot and system to be reconfigured and change product design easily. Productivity is increased due to minimized setup times.

Degrees of Freedom

The amount of values in a system possible of variation. A robotic joint is equal to one degree of freedom.

End-effector

The application tools located at the end of the robot's arm and are typically connected to robot flanges.

Joint space

The area and coordinate system the joints of the robot consume.

End-effector space

The area of the robot's end-effector movement with respect to its base. End-Of-Arm Tooling - (EOAT) Application tools that are located at the end of the robot arm. The quality of the EOAT greatly affects the performance of the system.

Jointed Arm Robot

The arm of the robot has two junctions allowing for rotation and enhanced movement much like a person's shoulder and elbow on their arm.

Cylindrical Robot

The axes of the robot correspond to a cylindrical coordinate system.

Cartesian Robot

The axes of the three Prismatic or linear motion joints of the robot are in the same direction of a Cartesian coordinator.

Cam

The centerline of rotation of this part is not at the geometric center making other parts pushing on it to move in and out.

Control Program

The control information built into the robot or automated system that allows for possible behaviors. The control information is not expected to be altered.

Interlock

The control of a device starting or stopping is dependent upon the action of another device.

Flexibility

The diverse jobs that a robot is capable of executing.

Moment

The measure of rotation about a reference object when a force is applied. When a reference point is used, the moment is the cross product of the amount of force and the perpendicular distance between the point and the line of force. When a reference line is used, the moment is the cross product of amount of force and the shortest distance between the line and the point where the force is applied. When a reference plane is used, the moment is the cross product of the amount of force and the perpendicular distance from the plane to the point where the force is applied.

Dexterity

The measure of the robot's skill of completing specific difficult paths.

Fully Constrained Robot

The number of equality constraints on the robot are equal to the number of independent joints.

Kinematic Influence Coefficients

The number of input joints affects movement of the robot and the response of the system due to the affect on complex and coupled nonlinear differential equations.

Chassis

The parts making up a machine not including the body or casing. In the case of an automobile this would include parts such as the frame and engine but not the body surrounding these parts.

Factory Automation

The process of integrating industrial machinery with the help of control software. This integration increases efficiency, productivity and quality while decreasing costs.

Normalize

The process of relating factors into similar magnitudes by scaling.

Hybrid

The robot has a combination of pick and place and servo controlled parts.

Interface

The separation between robots and the equipment not nearby. The sensors that are required for communication between the devices use signals relaying input and output data.

Digital Computer

The system of binary numbers is most commonly used as digits for calculations or operations by the computer.

Enabling Device

The user activates the device allowing for the robot and machinery to move. When deactivated motion is stopped preventing harmful situations.

Manual Programming

The user physically sets specific tasks and limits on the robot.

Fanuc

With the headquarters located in Rochester Hills, Michigan, this company provides the most automated systems such as robots to industries in North and South America.