Rethink Robotics Sawyer, Оригинальное руководство пользователя, Страница: 152 / 220

145
Intera 5.3
•
Intera Studio - The Intera 5 software on the Chrome browser, used to create the
programming logic for Sawyer tasks. It features a behavior editor of the task and
a simulated Sawyer robot. The second screen may be connected to an actual
Sawyer robot.
•
IP address - Unique identifier for every workstation in the world.
•
Node - The basic component of the behavior editor. It is an instruction for the
robot to perform a specific function.
•
Path - The arm movement between two actions.
•
Port Number - A semi-arbitrary way to divide up different connections to the
same IP address.
•
Pose - A position and orientation of the robot’s arm at a location.
•
Primitive - Nodes with no children. Analogous to the leaf of a branch of the
behavior editor. They affect the state of the world (as opposed to Composite
nodes, which determine what's appropriate to do when, and in what order).
Examples of primitive nodes: Move To, Wait, Set Values, Alert, Camera node.
•
Retract Point - The pose that immediately follows an action.
•
Sequence Node - Use a Sequence Node if you want to perform a series of
actions, one after another.
•
Signal Variable - Represent signals the robot sends to other devices or other
devices send to the robot. Inputs are read only. Outputs are read and write.
•
TCP/IP - Transmission Control Protocol/Internet Protocol. The suite of
communications protocols used to connect hosts on the Internet, over Ethernet
or wifi.
•
TCP Socket - Endpoint of a TCP connection, identified with an IP address and a
port number.
•
Template - A basic, or "skeleton" subtree behavior that can be inserted into a
task as needed. Once inserted, it becomes part of the task as if it had been cop-
ied and pasted there. Templates do not contain unique properties of the nodes,
for example, references to poses, signals, or other variables.
•
Tool Center Point - The precise location of a pose as identified by the Intera soft-
ware. Also called the TCP. Important for jogging, especially for rotating around
the TCP.
•
UI - User Interface. The means by which you interact with the robot’s software,
for example, by entering values, scrolling through screens, making selections,
etc.
•
Waypoint - A location in space that the arm will move to along a path.