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Glossary of Robotics Terms

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ABSO Data: Absolute Data (ABSO Data) is a correction factor for data that establishes an indicated value of zero when the robot is at the predetermined Home (calibration position).

Accuracy: Accuracy is the measurement of the deviation between the command characteristic and the attained characteristic (R15.05-2), or the precision with which a computed or calculated robot position can be attained. Accuracy is normally worse than the arm's repeatability. Accuracy is not constant over the workspace, due to the effect of link kinematics.

Active Compliant Robot: An active compliant robot is one in which motion modification during the performance of a task is initiated by the control system. The induced motion modification is slight, but sufficient to facilitate the completion of a desired task.

Actual Position: The position or location of the tool control point. Note that this will not be exactly the same as the demand position due to a multitude of un-sensed errors (such as link deflection, transmission irregularity, tolerances in link lengths, etc.)

Actuator: A power mechanism used to effect motion, or maintain position of the robot (for example, a motor which converts electrical energy to effect motion of the robot) (R15.07). The actuator responds to a signal received from the control system.

Axis: A direction used to specify the robot motion in a linear or rotary mode. (ISO 8373)

Arm: An interconnected set of links and powered joints comprising a robot manipulator that supports and/or moves a wrist and hand or end-effector through space. The arm itself does not include the end-effector. See Manipulator, End-effector and Wrist.

Articulated Manipulator: A manipulator with an arm that is broken into sections (links) by one or more joints. Each of the joints represents a degree of freedom in the manipulator system and allows translation and rotary motion.

Articulation: Describes a jointed device, such as a jointed manipulator. The joints provide rotation about a vertical axis, and elevation out of the horizontal plane. This allows a robot to be capable of reaching into confined spaces.

Assembly Robot: A robot designed specifically for mating, fitting, or otherwise assembling various parts or components into completed products. Primarily used for grasping parts and mating or fitting them together, such as in assembly line production.