Mecademic Meca500 R3, Руководство по программированию

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98 Programming manual for Meca500 (for firmware 9.2.x)
GLOSSARy
7. GLOSSARy
Table 65 presents of summary of the terms that we use frequently in our manuals and in the robot's
web interface.
GLOSSARY OF TERMS
TERM DESCRIPTION
BRF Base reference frame (see Figure 2 ).
Cartesian space The space where the location of an object, such as the robot's end-effector, is defined by a
pose (position and orientation). For example, we can say that a
MoveLin*
command forces
the TCP to follow a straight line in Cartesian space.
Control port The TCP port over which commands to the robot and messages from the robot are sent
(see Section 2 ).
EOAT End-of-arm-tooling. Mecademic offers two electric grippers ( MEGP 25E and MEGP 25LS )
and one pneumatic module ( MPM500 ) that can be controlled directly by the Meca500.
Error mode The robot goes into error mode when it encounters an error while executing a command
or a hardware problem (see Section 2.5.1 ) .
Euler angles Three angles corresponding to three consecutive rotations, used to define the orientation
in space of one reference frame with respect to another (see Section 1.1.4 ).
FRF Flange reference frame (see Figure 2 ).
Inverse kinematics The problem of finding all possible joint sets for a desired pose of the TRF with respect to
the WRF (see Section 1.2.1 ).
Joint angle The angle associated with robot joint i ( i = 1, 2, ..., 6), denoted by θ
i
and measured in
degrees (see Section 1.1.5 ).
Joint position The set of all joint angles, i.e., { θ
1
, θ
2
, θ
3
, θ
4
, θ
5
, θ
6
}, also referred to as joint set (see
Section 1.1.6 ).
Joint set The set of all joint angles, i.e., { θ
1
, θ
2
, θ
3
, θ
4
, θ
5
, θ
6
}, also referred to as joint position (see
Section 1.1.6 ).
Joint space The six-dimensional space defined by the positions of the robot joints.
Monitoring port The TCP port over which data is sent periodically from the robot (see Section 2 ).
Motion command A command used to construct a trajectory for the robot. When the meca500 receives a
motion command, it places it in a motion queue (see Section 2.1 ). Examples include the
commands delay,
MoveLin
,
SetTrf
, and
SetJointVel
.
Motion queue A buffer where motion commands that were sent to the robot are stored and executed on
a FIFO basis by the robot (see Section 2.1 ).
Offline program A sequence of motion commands that can be saved in the robot's storage using the
commands StartSaving and StopSaving , and later called by the command StartProgram .