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Appendix A
A.1 Glossary
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Singularity
A configuration where two joints of the robot arm become co-axial (aligned
along a common axis). In a singular configuration, smooth path following
is normally impossible and the robot may lose control. The term originates
from the behavior of the Jacobian matrix, which becomes singular (i.e.,
has no inverse) in these configurations.
Smart Pendant
A Programming Pendant that readily adapts to the user’s style for easy
operation. Its patented, built-in Smart Frame technology determines the
user’s orientation relative to the robot. This eliminates the use of
conventional coordinate (X,Y,Z) frames and utilizes human coordinate
references for easy command of robot movement.
SLURBT
SLURBT are terms that YASKAWA Motoman uses to describe each axis
of the robot for convenience. The definition of each value is as follows:
S – Swing or Swivel
L – Lower Arm
U – Upper Arm
R – Rotate
B – Bend
T – Twist
Softlimit Setting Function
The Softlimit Setting Function is a function to set the axis travel limit range
of the manipulator motion in software.
Soft Pendant
Is software, that is a digital version of the Programming Pendant that can
be ran on a Windows operating system. See Programming Pendant for
more details.
Speed and Separation Monitoring
Collaborative feature that allows both the operator and robot to work in
proximity to one another by ensuring the robot will slow down and stop
before a contact situation occurs. In order for this feature to be safely
implemented, functional safety and additional detection hardware must be
used. A risk assessment shall be used to determine if any additional
safeguarding is necessary to mitigate risks within the robot system.
Spline
A smooth, continuous function used to approximate a set of functions that
are uniquely defined on a set of sub-intervals. The approximating function
and the set of functions being approximated intersect at a sufficient
number of points to insure a high degree of accuracy in the approximation.
The purpose for the smooth function is to allow a robot manipulator to
complete a task without jerky motion.
Spline Motion Type
A calculated path that the robot executes which may be parabolic in
shape. A spline motion may also accomplish a free form curve with
mixtures of circular and parabolic shapes.
System Integrator
See
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