ROBOTIC TERMINOLOGY

PRASHANTH B N
Assistant Professor
Department of Mechanical Engineering
Amrita School of Engineering
 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.
 Accuracy - The ability of a robot to reach a given point in space and how far off it
will be in the worst case. Not to be confused with repeatability!
 Actuator - A power mechanism used to effect motion of the robot; a device that
converts electrical, hydraulic, or pneumatic energy into robot motion.
 Algorithm - A set of procedures used to solve a problem.
 Analytical Methods - Purely mathematical methods that do not require iteration.
 Application Program - The set of instructions that defines the specific intended
tasks of robots and robot systems. This program may be originated and modified by
the robot user.
 Attended Continuous Operation - The time when robots are performing
(production) tasks at a speed no greater than slow speed through attended program
execution.
 Attended Program Verification - The time when a person within the restricted
envelope (space) verifies the robot's programmed tasks at programmed speed.
 Automatic Mode - The robot state in which automatic operation can be initiated.
 Automatic Operation - The time during which robots are performing programmed
tasks through unattended program execution.
 Awareness Barrier - Physical and/or visual means that warns a person of an
approaching or present hazard.
 Awareness Signal - A device that warns a person of an approaching or present
hazard by means of audible sound or visible light.
 Automation - A process is performed by using programmable machines. The
process is not only supported by machines but these machines can work in
accordance with a program that regulates the behavior of the machine.
 Automation Solutions - The techniques and equipment used to achieve automatic
operation or control.
 Autonomous - Operating independently without pre-programmed behaviors
and without supervision from humans.
 Axis - The line about which a rotating body (such as a tool) turns.
 Ball Screw - A device for transforming rotary motion to linear, or vice versa,
incorporating a threaded rod portion and a nut consisting of a cage holding many
ball bearings.
 Barrier - A physical means of separating persons from the restricted envelope
(space).
 Base - The platform which supports the manipulator arm.
 Biomimetic - Mimicking life or natural biological systems.
 Business Process Automation (BPA) - The process of integrating enterprise
applications, reducing human intervention wherever possible, and assembling
software services into end-to-end process flows.
 Cam - A rotating part which, due to its eccentric center line, causes an in-and-out
motion in any part pushing against it.
 Cartesian Robot/Gantry Robot – Robot whose arm has three prismatic joints,
whose axes are coincident with a Cartesian coordinator.
 Chassis - The part of a motor vehicle that includes the engine, the frame suspension
system, wheels, steering mechanism etc. but not the body.
 Closed-form - A problem formulation that does not require iteration for its solution.
 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, robot
safety mount, robotic clutch and robotic collision protector.
 Compensator - Remote compliance center device using three to twelve elastomeric
shear pads to aid in the insertion of peg-in-hole applications.
 Computer-Aided Design (CAD) - The use of a computer to assist in the design of a
product or manufacturing system.
 Computer-Aided Manufacturing (CAM) - The use of a computer to assist in the
manufacturing process.
 Conservative Motion - A path where both the end-effector and the joints repeatedly
follow their same respective trajectories.
 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.
 Control Program - The inherent set of control instructions that defines the
capabilities, actions and responses of the robot system. This program is usually not
intended to be modified by the user.
 Coordinated Straight Line Motion - Control wherein the axes of the robot arrive
at their respective end points simultaneously, giving a smooth appearance to the
motion. The motions of the axes are such that the Tool Center Point (TCP) moves
along a pre-specified type of path (line, circle, etc.)
 Degrees of Freedom - The number of independent variables in the system. Each
joint in a serial robot represents a degree of freedom.
 Device - Any piece of control hardware such as an emergency-stop button, selector
switch, control pendant, relay, solenoid valve, sensor, etc.
 Dexterity - A measure of the robot's ability to follow complex paths.
 Digital Computer - A computer that performs calculations and logical operations
with quantities represented as digits, usually in the binary number system.
 Direct Numerical Control (DNC) - The use of a computer for providing data
inputs to several remote numerically controlled machine tools.
 Direct Search - A method of solving problems numerically using sets of trial
solutions to guide a search. The search is direct because it does not explicitly
evaluate derivatives.
 Drive Power - The energy source or sources for the robot actuators.
 Dynamics - The study of energy or forces that cause motion.
 Dynamic Model - A mathematical model describing the motions of the robot and
the forces that cause them.
 Emergency Stop - The operation of a circuit using hardware-based components that
overrides all other robot controls, removes drive power from the robot actuators, and
causes all moving parts to stop.
 Enabling Device - A manually operated device that permits motion when
continuously activated. Releasing the device stops robot motion and motion of
associated equipment that may present a hazard.
 End-effector - The robot's last link. The robot uses the end-effector to accomplish a
task. The end-effector may be holding a tool, or the end-effector itself may be a tool.
The end-effector is loosely comparable to a human's hand. Examples may include
gripper, spot-weld guns, arc-weld guns, spray- paint guns, or any other application
tools.
 End-effector Space - A fixed coordinate system referenced to the base of the robot.
Examples may include grippers, spot-weld guns, arc-weld guns, spray- paint guns,
or any other application tools.
 End-Of-Arm Tooling - Virtually anything that is placed on the end of a robot arm.
 Energy Source - Any electrical, mechanical, hydraulic, pneumatic, chemical,
thermal, or other source.
 Equality Constraint - A restriction that requires the displacement or motion of the
robot to equal a specified value. Equality constraints specify the position and
orientation of the robot's end-effector.
 Error Function - The error function assigns a single value that represents the
difference between the desired and actual values of one or several dependent
variables.
 Exponential Assembly - A form of self-replication in which tiny devices called
nano-robots repeatedly construct copies of themselves.
 Factory Automation – Automation of a manufacturing environment or assembly
line.
 Feedback - A signal from the robot equipment about conditions as they really exist,
rather than as the computer has directed them to exist.
 Fixed Automation (Hard Automation) - Automated, electronically controlled
system for simple, straight or circular motion. These systems are mainly used for
large production runs where little flexibility is required.
 Flexibility - The ability of a robot to perform a variety of different tasks.
 Flexible Automation - Designing and building of custom dedicated automated
systems.
 Fully Constrained Robot - A robot with as many independent joints as there are
equality constraints on the placement of the end-effector.
 Hazard - A situation that is likely to cause physical harm.
 Hazardous Motion - Any motion that is likely to cause personal physical harm.
 Human-Computer Interaction (HCI) (or, alternatively, computer-human
interaction) - the study of interaction between people (users) and computers.
 Hybrid - A robot that is part pick and place and part servo controlled, or has the
same abilities.
 Industrial Equipment - Physical apparatus used to perform industrial tasks, such as
welders, conveyors, machine tools, fork trucks, turn tables, positioning tables or
robots.
 Industrial Automation - Also referred to as automation, uses numerical control
during the use of control systems (e.g. computers) to control industrial machinery
and processes, replacing human operators. It is a step beyond mechanization, where
human operators are provided with machinery to assist them with the physical
requirements of work. The most visible part of modern automation can be said to be
industrial robotics. Some advantages are repeatability, tighter quality control, waste
reduction, integration with business systems, increased productivity and reduction of
labour.
 Industrial Robot - An automatically controlled, reprogrammable, multipurpose
manipulator programmable in three or more axes. The field of industrial robotics
may be more practically defined as the study, design and use of robot systems for
manufacturing.
 Industrial Robotics - The study, design and use of robot systems for
manufacturing.
 Industrial Robot System - A system that includes industrial robots, the end-
effectors, and the devices and sensors required for the robots to be taught or
programmed, or for the robots to perform the intended automatic operations, as well
as the communication interfaces required for interlocking, sequencing, or
monitoring the robots.
 Inequality Constraint - A restriction that limits the value of a dependent or
independent variable. Inequality constraints limit the robot's joint travels (joint
limits), joint speeds (speed limits) and torques (torque limits).
 Interface - A boundary between the robot and machines, transfer lines, or parts
outside immediate environment.  The robot must communicate with these items
through input/output signals provided by sensors.
 Interlock - An arrangement whereby the operation of one control or mechanism
brings about or prevents the operation of another.
 Inverse Kinematics - The inverse kinematics problem is to find the robot's joint
displacements given position and orientation constraints on the robot's end-effector.
 Integrator – Company that combines and coordinates separate parts or elements
into a unified whole using mechanical means.
 Iteration - Repeatedly applying a series of operations to progressively advance
towards a solution.
 Jacobian - The matrix of first-order partial derivatives. For robots, the Jacobian
relates the end-effector velocity to the joint speeds.
 Joint Motion - A method for coordinating the movement of the joints such that all
joints arrive at the desired location simultaneously.
 Joint Space - A coordinate system used to describe the state of the robot in terms of
its joint states. Inverse kinematics may also be thought of as a mapping from end-
effector space to joint space.
 Jointed Arm Robot - A robot whose arm consists of two links connected by
"elbow" and "shoulder" joints to provide three rational motions.  This robot most
closely resembles a human arm.
 Kinematics - The study of motion without regards to the forces that cause those
motions.
 Kinematic Influence Coefficients - These coefficients describe the total influence
the N input joints have on the motion of the robot and allow a direct statement of the
complex and coupled nonlinear differential equations controlling the response of the
system.
 LaGrange Multipliers - A mathematical technique for transforming equality
constraints into performance criteria, thus expressing a constrained problem as an
unconstrained problem.
 Limiting Device - A device that restricts the maximum envelope (space) by
stopping or causing to stop all robot motion and is independent of the control
program and the application programs.
 Linearly Dependent - A correspondence between quantities or functions that can
be described by simply adding, subtracting or multiplying a scalar.
 Maintenance - The act of keeping the robots and robot systems in their proper
operating condition.
 Manipulator - The mechanical arm mechanism, consisting of a series of links and
joints, which accomplishes the motion of an object through space.
 Maximum Envelope Space - The volume of space encompassing the maximum
designed movements of all robot parts including the end-effector, workpiece, and
attachments.
 Mechanical - Using mechanisms, tools or devices.
 Mechanization - Introducing the use of machines to a production process.
 Mobile Robot - A self-propelled and self-contained robot that is capable of moving
over a mechanically unconstrained course.
 Moment - (a) With respect to a point, the product of the intensity of the force into
the perpendicular distance from the point to the line of direction of the force. (b)
With respect to a line, the product of that component of the force which is
perpendicular to the plane passing through the line and the point of application of
the force, into the shortest distance between the line and this point. (c) With respect
to a plane that is parallel to the force, the product of the force into the perpendicular
distance of its point of application from the plane.
 Muting - The deactivation of a presence-sensing safeguarding device during a
portion of the robot cycle.
 Nanotechnology (Molecular Manufacturing ) - A branch of engineering that deals
with the design and manufacture of extremely small electronic circuits and
mechanical devices built at the molecular level of matter.
 Normalize - Scaling a number of factors so that they will be of similar magnitudes.
 Numerical Methods - Iterative methods of solving problems on a computer.
Numerical methods may have an analytical basis or they may involve heuristics.
 Optimization - Calculating the independent variables in a function so as to generate
the best function value for a given set of conditions. Optimization usually involves
maximizing or minimizing a function.
 Off-Line Programming - A means of programming a robot by developing a set of
instructions on an independent computer and then using the software to control the
robot at a later date.
 On-Line Programming - A means of programming a robot on a computer that
directly controls the robot.  The programming is performed in real time.
 Operating Envelope Space - That portion of the restricted envelope (space) that is
actually used by the robot while performing its programmed motions.
 Operator - The person designated to start, monitor, and stop the intended
productive operation of a robot or robot system. An operator may also interface with
a robot for productive purposes.
 Palletizing - The process of placing parts in different positions on a pallet.
 Parallel Robot – Robot whose arms have concurrent prismatic or rotary joints.
 Pendant - Any portable control device, including teach pendants, that permits an
operator to control the robot from within the restricted envelope (space) of the robot.
 Performance Criteria - Measures based on kinematic and dynamic models of the
robot useful for evaluating the state of the robot.
 Pick and Place Robot - A simple category of robot used to pick parts and place
them down somewhere else.
 Plant Description - A kinematic and dynamic model of the robot.
 Point-To-Point Motion - A type of robot motion in which a limited number of
points along a path of motion is specified by the controller, and the robot moves
from point to point rather than in a continuous, smooth path.
 Position-level - Mathematical formulations working with the joint displacements.
See acceleration-level and velocity-level.
 Positional Assembly - A technique that has been suggested as a means to build
objects, devices, and systems on a molecular scale using automated processes in
which the components that carry out the construction process would follow
programmed paths.
 Presence-Sensing Safeguarding Device - A device designed, constructed, and
installed to create a sensing field or area to detect an intrusion into the field or area
by personnel, robots, or other objects.
 Productivity - The amount of output created produced per unit input used.
 Program - A sequence of instructions to be executed by the computer or robot
controller to control a robot or robot system. To furnish a computer with a code of
instruction. To teach a robot system a specific set of movements and instructions to
accomplish a task.
 Programmable Logic Controller (PLC) - A small computer used for automation
of real-world processes, such as control of machinery on factory assembly lines.
 Pseudoinverse - A simple method of inverting a matrix that is not square. As
commonly applied to redundant robots, the pseudoinverse minimizes the two-norm
of the joint speeds.
 Reach - The maximum distance from the centre line of the robot to the end of its
tool mounting plate.
 Redundancy - More independent variables than constraints.
 Reliability - The percentage of time during which the robot can be expected to be in
normal operation.  This is also known as the "up time" of the robot.
 Remanufacture - To upgrade or modify robots to the revised specifications of the
manufacturer and applicable industry standards.
 Remote Compliance Centre (RCC) -  Any compliance structure has a centre of
compliance.   If you were to push at this centre you would have a pure lateral motion
(no rotation). If you were to rotate this centre, you would have rotation with no
lateral motion. A remote compliance centre is a compliance centre projected
outward from the device. Remote compliance centres decouple lateral and angular
motion. A RCC device can be used in assembly to ease the insertion force.  When a
project compliance centre is near the insertion point of a peg-in-hole type assembly,
the peg translates into the hole when it strikes the outside lead-in chamfer without
rotating. This translation without rotation prevents the jamming seen from
compliance devices that have a compliance centre far away from the insertion point.
 Repair - To restore robots and robot systems to operating condition after damage,
malfunction, or wear.
 Repeatability - The variability of the end-effector's position and orientation as the
robot makes the same moves under the same conditions (load, temp, etc.)
 Resolved-rate - An extremely simple inverse kinematics method at the velocity-
level.
 Restricted Envelope Space - That portion of the maximum envelope to which a
robot is restricted by limiting devices. The maximum distance that the robot can
travel after the limiting device is actuated defines the boundaries of the restricted
envelope (space) of the robot.
 Robot - A machine designed to execute one or more tasks repeatedly, with speed
and precision.
 Robot Manufacturer - A company or business involved in the design, the
fabrication, or the sale of robots, robot tooling, robotic peripheral equipment or
controls, and associated process ancillary equipment.
 Robot System Integrator - A company or business who either directly or through a
subcontractor will assume responsibility for the design, fabrication, and integration
of the required robot, robotic peripheral equipment, and other required ancillary
equipment for a particular robotic application.
 Robotic Deburring Tool - Deburring tool, air or electrically driven, with
compliance and a method to mount to a robot wrist.  Deburring tools can also be
mounted to a bench or fixture, with parts brought to the unit to be deburred.
 Robotic Rotary Joint - Device used to keep electrical and pneumatic cables on a
robot stationary while the tool rotates.  A Rotary Joint has two halves: a stationary
half that is mounted on a robot arm, and a rotating half that mounts to the robot
wrist and tool.  Slip ring technology is used to pass electrical signals. Also known as
robotic rotary union or robot slip ring.
 Robotic Self-Motion - The robot's ability to move its intermediate links while
holding the placement of the end-effector constant.
 Robotic Tool Changer -  Component with two mating parts (master and tool) that
have been designed to lock together automatically (normally using pneumatic
pressure) and are able to pass utilities (e.g. electrical signals, pneumatic supply,
water, etc.).  The master side of the tool changer mounts to a robot or other
structure. The tool side of the tool changer mounts to tooling, such as grippers,
welders or deburring tools.  A robotic tool changer is also known as an automatic
tool changer, robot tool changer, robot coupler, robotic coupler or robotic connector.
 Rotational Motion - A degree of freedom that defines motion of rotation about an
axis.
 Safeguard - A barrier guard, device, or safety procedure designed for the protection
of personnel.
 Safety Procedure - An instruction designed for the protection of personnel.
 Scale - Changing magnitude by linear operation, i.e. multiplying by a scalar.
 SCARA Robot – Robot which has two parallel rotary joints to provide compliance
in a plane.
 Self-Assembly - A branch of nanotechnology in which objects, devices and systems
form structures without external prodding.
 Self-Replication - Process in which devices whose diameters are of atomic scale, on
the order of nanometers, create copies of themselves.
 Sensor - A device that responds to physical stimuli (such as heat, light, sound,
pressure, magnetism, motion, etc.) and transmits the resulting signal or data for
providing a measurement, operating a control, or both.
 Serial Robot - A serial robot is a single chain of joints connected by links.
 Service - To adjust, repair, maintain, and make fit for use.
 Shoulder - The manipulator arm link joint that is attached to the base.
 Simulation - The process of imitating a real phenomenon with a set of mathematical
formulas.
 Single Point of Control - The ability to operate the robot such that initiation or
robot motion from one source of control is possible only from that source and
cannot be overridden from another source.
 Singularity - A position in the robot's workspace where one or more joints no
longer represent independent controlling variables. Commonly used to indicate a
position where a particular mathematical formulation fails.
 Slow Speed Control - A mode of robot motion control where the velocity of the
robot is limited to allow persons sufficient time either to withdraw the hazardous
motion or stop the robot.
 Software - A computer program which provides the instructions to enable the
computer hardware to work.
 Solenoid - An electrical coil with an iron section inside that will pull or push when
current goes through the coil.
 Spherical Robot – Robot whose axes form polar coordinate systems.
 Start-up - Routine application of drive power to the robot or robot system.
 Statics - The study of forces that do not cause motion.
 Swing - The rotation about the centre line of the robot.
 Teach - The generation and storage of a series of positional data points affected by
moving the robot arm through a path of intended motions.
 Teach Mode - The control state that allows the generation and storage of positional
data points affected by moving the robot arm through a path of intended motions.
 Teacher - A person who provides the robot with a specific set of instructions to
perform a task.
 Test Automation - The use of software to control the execution of tests, the
comparison of actual outcomes to predicted outcomes, the setting up of test
preconditions and other test control and test reporting functions.
 Tool Center Point (TCP) - The origin of the tool coordinate system.
 Trigger Point - The exact point at which a component will change from one state to
another.
 Turnkey or Turnkey Project - A project in which a separate entity is responsible
for setting up a plant or equipment and putting it into operation.
 Two-norm - The square root of the sum of the squares. The magnitude of a vector.
 Velocity-level - Mathematical formulations working with the joint speeds.
Integrating the joint speeds once provides the displacements. See acceleration-level
and position-level.
 Vertical Stroke - The amount of vertical motion of a robot arm from one elevation
to the other.
 VLSI (Very Large Scale Integration) - The creation of a large number of
components on a single chip.
 Work Cell - A group of machines all working together on a common part and
physically located together.
 Work Envelope - The area in which a robot can work, the limits to its motions.
 Work in Progress - An accounting term used to express the value of material taken
up continuously by the work process.
 Workspace - The maximum reach space refers to all of the points the robot can
possibly reach. The dexterous workspace is all of the possible points the robot can
reach with an arbitrary orientation. The dexterous workspace is usually a subspace
of the maximum reach space.
 Work Station - A stationary position where work is performed, the work piece
moving to the station.
 Wrist - The manipulator arm joint to which an end effecter is attached.
 XYZ Coordinates - A reference to the most common names given to the lines
forming a Cartesian solid.