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Olaf Pinette
3D Graphic Display Function
The 3D Graphic Display Function (henceforth described as 3D Display Function) is that, a 3D model of the robot is displayed on the programming pendant window, and the current value of the robot can be confirmed. By using the multi-window function, the job's teaching position displayed in the job content can also be confirmed on the 3D display window. When the functional safety function is valid, the functional safety range can also be displayed.
Absolute Data (ABSO Data)
Absolute Data (ABSO Data) is a correction factor for data that establishes an indicated value of zero when the robot is at the predetermined Home (calibration position).
Accuracy
Accuracy is the measurement of the deviation between the command characteristic and the attained characteristic (R15.05-2), or the precision with which a computed or calculated robot position can be attained. Accuracy is normally worse than the arm's repeatability. Accuracy is not constant over the workspace, due to the effect of link kinematics.
Active Compliant Robot
An active compliant robot is one in which motion modification during the performance of a task is initiated by the control system. The induced motion modification is slight, but sufficient to facilitate the completion of a desired task.
Actual Position
The position or location of the tool control point. Note that this will not be exactly the same as the demand position, due to a multitude of unsensed errors, such as link deflection, transmission irregularity, tolerances in link lengths, etc.
Actuator
A power mechanism used to effect motion, or maintain position of the robot (for example, a motor which converts electrical energy to effect motion of the robot) (R15.07). The actuator responds to a signal received from the control system.
Arm
An interconnected set of links and powered joints comprising a robot manipulator that supports and/or moves a wrist and hand or end-effector through space. The arm itself does not include the end-effector.
See Manipulator, End-effector and Wrist.
Articulated Manipulator
A manipulator with an arm that is broken into sections (links) by one or more joints. Each of the joints represents a degree of freedom in the manipulator system and allows translation and rotary motion.
Articulation
Describes a jointed device, such as a jointed manipulator. The joints provide rotation about a vertical axis, and elevation out of the horizontal plane. This allows a robot to be capable of reaching into confined spaces.
Assembly Robot
A robot designed specifically for mating, fitting, or otherwise assembling various parts or components into completed products. Primarily used for grasping parts and mating or fitting them together, such as in assembly line production.
Automatic Measurement Function
For optimal robot motion, the mass properties of the end-effector should be specified. These properties can be derived from a CAD model of the tool. The Automatic Measurement Function is an alternative to a CAD model, and it uses the robot arm itself to measure the tool properties. With this function, the user can register the load of tool, the position of the tools center of gravity and the moment of inertia at the center of gravity.
Axis Interference
The Axis Interference Area is a function that judges the current position of each axis and outputs a signal based on whether the current position is within a predefined range.
Base Coordinate System
The Base Coordinate System (sometimes referred to as World Coordinate System) defines a common reference point for a cell or application. This is useful when using multiple robots or devices as positions defined in Base Coordinates will be the same for all robots and devices. (see figure at right)
Burn-in
Burn-In is a robot testing procedure where all components of the robot are operated continuously for an extended period of time. This is done to test movement and movement programming of the robot at early stages to avoid malfunctions after deployment.
Computer Aided Design (CAD)
Computer Aided Design (CAD). Computer graphic applications designed to allow engineering of objects (or parts), which are to be manufactured. A computer is used as a tool to design schematics and produce blueprints, which enable the accurate production of the object. The CAD system enables the three dimensional drawings of basic figures, exact sizing and placement of components, making lines of specified length, width, or angle, as well as satisfying varying geometric shapes. This system also allows the designer to test a simulated part under different stresses, loads, etc.
Carousel
A rotating platform that delivers objects to a robot and serves as an object queuing system. This carousel delivers the objects, or work pieces, to the loading/unloading station of the robot.
Cartesian-coordinate Robot
A Cartesian-coordinate Robot is a robot whose manipulator-arm degrees of freedom are defined by Cartesian Coordinates. This describes motions that are east-west, north-south and up-down, as well as rotary motions to change orientation.
Centrifugal Force
When a body rotates about an axis other than one at it's center of mass, it exerts an outward radial force called centrifugal force upon the axis, which restrains it from moving in a straight tangential line. To offset this force, the robot must exert an opposing torque at the joint of rotation.
Clamp
An end-effector which serves as a pneumatic hand that controls the grasping and releasing of an object. Tactile, and feed-back force sensors are used to manage the applied force to the object by the clamp. See End-effector.
Closed-loop
Control achieved by a robot manipulator by means of feedback information. As a manipulator is in action, its sensors continually communicate information to the robot's controller, which is used to further guide the manipulator within the given task. Many sensors are used to feed back information about the manipulator's placement, speed, torque, applied forces, as well as the placement of a targeted moving object, etc. See Feedback.
Compliance
Displacement of a manipulator in response to a force or torque. A high compliance means the manipulator moves a good bit when it is stressed. This is called spongy or springy. Low compliance would be a stiff system when stressed.
Compliant Robot
A robot that performs tasks, with respect to external forces, by modifying its motions in a manner that minimizes those forces. The indicated or allowed motion is accomplished through lateral (horizontal), axial (vertical) or rotational compliance.
Configuration
The arrangement of links created by a particular set of joint positions on the robot. Note that there may be several configurations resulting in the same endpoint position.
Contact Sensor
A device that detects the presence of an object or measures the amount of applied force or torque applied on the object through physical contact with it. Contact sensing can be used to determine location, identity, and orientation of work pieces.
Continuous Path
Describes the process where by a robot is controlled over the entire path traversed, as opposed to a point-to-point method of traversal. This is used when the trajectory of the end-effector is most important to provide a smooth movement, such as in spray painting etc. See Point-to-Point.
Control Command
An instruction fed to the robot by means of the human-to-machine input device. See Pendant (Teaching). This command is received by the robot's controller system and is interpreted. Then, the proper instruction is fed to the robot's actuators, which enable it to react to the initial command. Many times, the command must be interpreted with the use of logic units and specific algorithms. See Input Device and Instruction Cycle.
Control Device
Any piece of control hardware providing a means for human intervention in the control of a robot or robot system, such as an emergency-stop button, a start button, or a selector switch. (R15.06)
Controllability
The property of a system by which an input signal can take the system from an initial state to a desired state along a predictable path within a predetermined period of time.
Controller
An information processing device whose inputs are both the desired and measured position, velocity or other pertinent variables in a process and whose outputs are drive signals to a controlling motor or actuator. (R15.02)
Controller System
The robot control mechanism is usually a computer of some type, which is used to store data (both robot and work environment), and store and execute programs, which operate the robot. The Controller System contains the programs, data, algorithms; logic analysis, and various other processing activities, which enable it to perform. See Robot.
Coordinate System or Frame
A Coordinate System (or Frame) defines a reference position and orientation from which a robot position can be measured. All robot positions are defined with reference to a Coordinate System. Yaskawa robots utilize the following Coordinate Systems:
Cyclic Coordinate System
A coordinate system that defines the position of any point in terms of an angular dimension, a radial dimensionand a height from a reference plane. These three dimensions specify a point on a cylinder.
Drop Delivery
A method of introducing an object to the workplace by gravity. Usually, a chute or container is so placed that, when work on the part is finished, it will fall or drop into a chute or onto a conveyor with little or no transport by the robot.