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186638-1CD
186638-1CD
Appendix A
A.1 Glossary
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Collaborative Robot
Term used to describe a robot system designed to operate in one or more
of the four collaborative modes.
•
• "Speed and Separation Monitoring"
• "Power and Force Limiting (PFL)"
Command Interpreter
A module or set of modules that determines what the received command
means. The command is broken down into parts (parsed) and processed.
Command Position
The endpoint position of a robot motion that the controller is trying to
achieve.
Compliance
Displacement of a manipulator in response to a force or torque. A high
compliance means the manipulator moves a good bit when it is stressed.
This is called spongy or springy. Low compliance would be a stiff system
when stressed.
Compliant Robot
A robot that performs tasks, with respect to external forces, by modifying
its motions in a manner that minimizes those forces. The indicated or
allowed motion is accomplished through lateral (horizontal), axial (vertical)
or rotational compliance.
Configuration
The arrangement of links created by a particular set of joint positions on
the robot. Note that there may be several configurations resulting in the
same endpoint position.
Connector Panel
Junction plate that allows the manipulator cables to connect to the robot’s
internal harness. See
.
Contact Sensor
A device that detects the presence of an object or measures the amount
of applied force or torque applied on the object through physical contact
with it. Contact sensing can be used to determine location, identity, and
orientation of work pieces.
Continuous Path
Describes the process where by a robot is controlled over the entire path
traversed, as opposed to a point-to-point method of traversal. This is used
when the trajectory of the end-effector is most important to provide a
smooth movement, such as in spray painting etc. See
.
Control Algorithm
A monitor used to detect trajectory deviations in which sensors detect
such deviations and torque applications are computed for the actuators.
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