B-9
183574-1CD
183574-1CD
Appendix B
B.1 Glossary
ArcWorld 50/50S/52/52S
Feedback Control
A type of system control obtained when information from a Robot or
sensor is returned to the Controller in order to obtain a desired robot
Feedback Sensor
A mechanism through which information from sensing devices is fed back
to the robot's control unit. The information is utilized in the subsequent
direction of the robot's motion. See
.
Flexibility
The ability of a robot to perform a variety of different tasks.
Force Feedback
A sensing technique using electrical signals to control a robot end-effector
during the task of the end-effector. Information is fed from the force
sensors of the end-effector to the robot control unit during the particular
task to enable enhanced operation of the end-effector.
.
Force Sensor
A sensor capable of measuring the forces and torque exerted by a robot
and its wrist. Such sensors usually contain strain gages. The sensor
provides information needed for force feedback. See
Forward Kinematic Solution
The calculation required to find the endpoint position, given the joint
positions. For most robot topologies this is easier than finding the inverse
kinematic solution.
Forward Kinematics
Computational procedures which determine where the end-effector of a
robot is located in space. The procedures use mathematical algorithms
along with joint sensors to determine its location.
Frame
A coordinate system used to determine a position and orientation of an
object in space, as well as the robot's position within its model.
Functional Safety Unit (FSU)
The Functional Safety Unit (FSU) is a component of the Controller that
provides programmable safety functions that enable collaborative
operation of the robot. As these safety functions are programmable, the
FSU allows the minimization of nearby overall equipment footprint, as well
as human accessible areas. The FSU consists of two parallel Central
Processing Units (CPUs) run concurrently, thereby providing dual channel
checking. In addition, the FSU acquires robot position from its encoders
independently from the motion control system of the robot. Based on this
feedback, the FSU monitors the Robot and tool’s position, speed and
posture.
G
Gantry
An adjustable hoisting machine that slides along a fixed platform or track,
either raised or at ground level along the X, Y, Z axes.
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