Rethink Robotics Sawyer, Original Instructions Manual, Page: 151 / 220

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Intera 5.3
Appendix A: Glossary
For the latest and most detailed information on Sawyer and Intera 5, we always recommend you
see the Online User Guide at:
mfg.rethinkrobotics.com/intera. The Rethink Robotics support page
is here: Rethink Support.
Glossary
•
Approach Point - The pose that immediately precedes an action.
•
Behavior Editor - Used to create, view, and edit all nodes in the Task. Organized
in a tree-like structure, and made up of parent and child nodes, it grows and
branches out from the left side of the screen.
•
Condition Node - Used where you want to perform a sequence of actions, but
only if some condition is true, for example, a signal being true.
•
End Effector - The external device attached to the end of Sawyer's arm, used to
perform a task or interact with the robot's environment. A Rethink vacuum grip-
per is a type of end effector. There are also 3rd party end effectors designed and
created for specific tasks. In many cases, the end effector will behave based on a
signal out.
•
Frame - A way to orient the world in which you're working. A frame is a 3D point
in space, with x, y, and z coordinates as well as x, y, and z rotation information.
Its purpose is to make other 3D objects relative to it by using its coordinate sys-
tem. A frame is a container that can also have children, which reference the frame
as their 0,0 point. As the frame moves, so do the children that reference it.
Frames are rendered in the Intera User Interface as planes.
•
Frame: Base Frame - The absolute 0,0 point at the base of the robot. All other
frames are relative to the base frame in some way. It is a constant that never
moves and is the parent of every item in the task.
•
Frame: End Effector Frame - Its 0,0 point is at the end of the robot arm. Its pre-
cise location is dependent upon the specific end effector being used.
•
Head Screen - The head display User Interface on the Sawyer robot itself.
•
Homing screen - The screen displayed after Sawyer has booted up. The arm then
performs a Homing Sequence so the robot can recognize where each joint is in
real space. During this sequence, each joint will move approximately 5 degrees.