National Bureau

of Standards

U.S. Departmen*

of Commerce

Reference

NBS

Publi

cations

I

A111D1 7 7 b 5 S 7

NBS1R 81-2340

ot c,

*°*eau A Glossary of Terms for Robotics

October 1 S81

Prepared for

:

, U56 ] c5l-234J

1981

U.S. Air Force Materials Laboratory

Integrated Computer Aided

Manufacturing Program

NBSIR 81-2340

A GLOSSARY OF TERMS FOR ROBOTICS

NATIONAL M/ftBAU

Or 3TANDAB1H

LIBRARY JUL 7 1982

fltot Clcc . (h

/ J / / r\T\

. U£b

% £

Bradford M. Smith

James S. Albus

Anthony J. Barbera

October 1 981

Prepared for U.S. Air Force Materials Laboratory

Integrated Computer Aided

Manufacturing Program

U.S. DEPARTMENT OF COMMERCE, Malcolm Baldrige, Secretary

NATIONAL BUREAU OF STANDARDS, Ernest Ambler, Director

TABLE OF CONTENTS

INTRODUCTION 3

ACKNOWL EDGEMENT 4

1. TYPES OF MANIPULATORS 5

2. GPMERAL ROBOTICS TERMS 9

3. R PLATED TECHNICAL AREAS 12

4. MANUFACTURING SYSTEMS 14

5. HP CHAN I CAL HARDWARE 16

5. 1 STRUCTURE 16

5. 2 ACTUATORS 17

5. 3 POWER AND TRANSMISSION 19

6. PPRFORMANCE MEASURES 21

7. STATICS AND KINEMATICS 27

S. DYNAMICS AND CONTROL 37

9. SPMSORY FEEDBACK 50

9. 1 MACHINE VISION 50

9. 2 NON-IMAGING SENSORS 52

10. COMPUTER AND CONTROL HARDWARE 55

1 1 . SOFTWARE 59

12. OPPRATOR INTERFACES 65

12.

1

DISPLAYS 65

12.

2

PROGRAMMING TECHNIQUES 66

13. COMMUNICATIONS 63

14. ECONOMIC ANALYSIS 72

- 1 -

INTRODUCTION

This glossary has been assemb led in order that users/ vendors/

researchers./ students/ teachers/ and others involved with the rapidly developing field of robotics may communicate in terms which

are shared and understood in common. The document does in fact

represent only an initial draft of definitions collated or

developed by the authors.

Preparation of this document was accomplished by the Automation

Technology Program at the National Bureau of Standards as one

phase o f

; a project funded by the Air Force Systems Command Integrated Computer Aided Manufacturing Program under Military Interdepartmental Purchase Request SY1457-7S-00003. Contract assistance for the project was most ably provided by Dr. Thomas B. Sheridan of Sheridan and Associates/ West Newton/ Mass. It is

the belief of this project team that the use of emerging robotics

technology along with that of numerical control of machining

processes offers great promise for improving productivity in

discrete part batch manufacturing operations.

The criterion for inclusion of terms is simply that the authors

and sponsors sought those which are most troublesome/ most used/

and most important within the general field of industrial robotics/ without the document becoming unbearably long. For the most

part/ basic terms of English usage are excluded/ as are computer

science/ common mathematical terms and mechanical or electrical

engineering terms which may readily be found in conventional English dictionaries or dictionaries of mathematics or technology.

To serve a tutorial function as well as a reference function/

terms in the glossary are grouped into similar categories. Fout

teen categories are defined with some being further segmented for

clarity. A full alphabetized listing of terms is provided in the

Appendix/ with page references to the definitions. Cross references In other terms which are more general/ or which provide

comparison or contrast/ are also given. In a few cases graphical

illustrations are presented.

-3-
ACKNOWLEDGEMENT

The assistance of the following institutions and individuals is

gratefully acknowledged:

The United States Air Force ICAM Program for providing

basic support to NBS as well as review of the glossary.

Computer Aided Manuf ac tur ing International/ Inc. (CAMI> which published a glossary of Computer Aided

Mann Picturing terms/ R-78-SC-01/ some definitions of

which are used with p ermi ss i on in the present g lossary/

and some terms from which are redefined to fit the

robotics context.

The Japan Industrial Robot Association (JIRA) which for

several years has had an active project to standardize

robotics terms. Particularly appreciated were discussions with Professor Y. Hasegawa of Waseda University

in Tokyo who has been an active participant in JIRA activity es. Lost but not least/ the following individuals are

thanked for their many and varied contributions: Professor Rainan Banerji of Temple University; Mr. Christopher Barnett of MIT/ Dr. Antal Bejezy of Jet Propulsion l aboratory/ California Institute of Technology;

ProPessor Nathan Cook of MIT/ Mr. Joseph Engelberger of

Unimotion Co; Mr. Richard Hohn of Cincinnati Milacron

Co; Mr. Frans Van Dyck of MIT; Dr. Daniel Whitney of

C. G. Draper Laboratory.

Thomas B. Sheridan

Bradford M. Smith

-4-
1 . TYPES OF MANIPULATORS

ROBOT

A mechanical device which can be programmed to perform some

task o Is manipulation or locomotion under automatic control.

MANIPULATOR

A mechanism) usually consisting of a series of segments/

jointed or sliding relative to one another/ for the purpose

of grasping and moving objects usually in several degrees of

freedom. It may be remotely controlled by a computer or by a

h uflian.

INDUSTRIAL ROBOT

A programmable/ multi-function manipulator designed to move

material/ parts/ tools/ or specialized devices through variable programmed motions for the performance of a variety of

tasks.

SPACE ROBOT

A robot used for manipulation or inspection in an earth orbit

or deep space environment.

INTELLIGENT ROBOT

A robot which can be programmed to make performance choices

contingent on sensory inputs.

PICK AND PLACE ROBOT

A simple robot/ often with only two or three degrees of freedom/ which transfers items from place to place by means of

point to point moves. Little or no trajectory control is

available. Often referred to as a "bang-bang" robot.

- 5—
FIXED STOP ROBOT

A robot with stop point control but no trajectory control.

That is, each of its axes has a fixed limit at each end of

its stroke and cannot stop except at one or the other of

these limits. Such a robot with N degrees of freedom can

therefore stop at no more than 2 locations (where location

includes position and orientation). Some controllers do

offer the capability of program selection of one of several

mechanical stops to be used. Often very good repeatib i 1 ity

can be obtained with a fixed stop robot.

BANG-BANG ROBOT

See Pick and Place Robot

ANDROID

A robot which resembles a human in physical appearance.

PROSTHETIC DEVICE

A device which substitutes for lost manipulative or mobility

functions of the human limbs.

LIMITED -DEGREE-OF-FREEDOM ROBOT

A robot able to position and orient its end effector in fewer

than six degrees of freedom.

RECORD-PLAYBACK ROBOT

A manipulator for which the critical points along desired

trajectories are stored in sequence by recording the actual

values of the joint position encoders of the robot as it is

moved under operator control. To perform the task, these

points are played back to the robot servo system.

MOBILE ROBOT

A robot mounted on a movable platform.

-6-
SENSORY-CONTROLLED ROBOT

A robot whose program sequence can be modified as a function

of information sensed from its environment. Robot can be

servoed or nonservoed. (See INTELLIGENT ROBOT)

SERVO-CONTROLLED ROBOT

A robot driven by servomechanisms/ i. e. motors whose driving

signal is a function of the difference between commanded position and/or rate and measured actual position and/or rate.

Such a robot is capable of stopping at or moving through a practically unlimited number of points in executing a programmed trajectory.

OPEN LOOP ROBOT

A robot which incorporates no feedback, i. e. no means of comparing actual output to commanded input of position or rate.

CYLINDRICAL COORDINATE ROBOT

A robot whose manipulator arm degrees of freedom are defined

primarily by cylindrical coordinates.

-7-
SPHERICAL COORDINATE ROBOT

A robot whose manipulator arm degrees of freedom are

primarily by spherical coordinates.

defined

-8-
2. GENERAL ROBOTICS TERMS

PROGR AMMABL E MANIPULATOR

A device which is capable of manipulating objects by executing s stored program resident in its memory.

TELEOPERATOR

A device having sensors and actuators for mobility and/or

manipulation# remotely controlled by a human operator. A

teleoperator allows an operator to extend his sensory-motor

function to remote or hazardous environments.

MASTER -SLAVE MANIPULATOR

A class of teleoperator having g eometr i ca 1 1 y isomorphic "master end slave" arms. The master is held and positioned by a person# the slave duplicates the motions# sometimes with a change of scale in displacement or force.

BILATERAL MANIPULATOR

A master-slave manipulator with symmetric force reflection

where both master and slave arms have sensors and actuators

such that in any degree of freedom a positional error between

the master and slave results in equal and opposing forces applied to the master and the slave arms.

AUTOMAT ION

The theory# art# or technique of making a process automatic#

self moving# or self-controlling.

LEVEL OP AUTOMATION

The degree to which a process has been made automatic.

Relevant to the level of automation are questions of automatic failure recovery# the variety of situations which will be

automat ical ly handled# and the situation under which manual

intervention or action by humans is required.

9—
HIERARCHY

A r e 1 at i onsh i p of elements in a structure divided into levels/ with those at higher levels having priority or precedence over those at lower levels. (See control hierarchy

and sensory hierachy.

)

CONTROL HIERARCHY

A relationship of control elements whereby the results of

higher level control elements are used to command lower level

e 1 ement s.

SENSORY HIERARCHY

A relationship of sensory processing elements whereby the

results of lower level elements are utilized as inputs by

higher level elements.

ADAPTABLE

Capable of making self directed corrections. In a robot this

is often accomplished with the aid of visual/ force or tactile sensors.

See definition 2 of "Flexible".

ARCHITECTURE

Physical/ and logical structure of a computer or manufacturing process.

PROGRAMMABLE

Capable of being instructed to operate in a specified manner

or of accepting setpoints or other commands from a remote

source.

REDUNDANCY

Duplication of information or devices in order to improve reliability.

-10
FLEX IWL l

1. Pliable or capable of bending. In robot mechanisms this

may be due to joints# links# or transmission elements. Flexibility allows the endpoint of the robot to sag or deflect

under load and to vibrate as a result of acceleration or decel era t i on.

2. Multipurpose; adaptable# capable of being redirected# retrained or used for new purposes. Refers to the reprogrammability or multi-task capability of robots.

MAN I PULA1 1DN

The operation of grasping and moving an object.

MODULAR

Made up of subunits which can be combined in various ways.

In robots# a robot constructed from a number of interchangeable subunits each of which can be one of a range of sizes or

have one of several possible motion styles (prismatic#

cylindrical# etc.

)

and number of axes.

"Modular design" permits assembly of products# or software or

hardware from standardized components.

INTERFACES

A shared boundary. An interface might be a mechanical or

electrical connection between two devices; it might be a portion o'- computer storage accessed by two or more programs# or

it might be a device for commmunication to or from a human

operator.

- 1

1

-
3. RELATED TECHNICAL AREAS

ARTIFICIAL INTELLIGENCE

The ability of a device to perfornr functions that are normally associated with human intel 1 igence* such as reasoning*

planning* problem solving* pattern recognition* perception*

cognition* understanding* and learning.

PATTERN RECOGNITION

Description or classification of pictures or other data

structures into a set of classes or categories* a subset of

the subject artificial intelligence.

GROUP TECHNOLOGY

A system -For coding parts based on similarities in geometrical shape or other character ist ics of the parts.

The grouping of parts into families based on similarities in

their production so that the parts of a particular family

could then be processed together.

PART CLASSIFICATION

A coding scheme* typically involving four or more digits*

which specifies a discrete product as belonging to a part

f ami 1 y

.

FLEXIBLE MANUFACTURING SYSTEMS

An arrangement of machines (usually numerical control machining centers with tool changers) interconnected by a transport

system. The transporter carries work to the machines on pallets or other interface units so that work-machine registration is accurate* rapid and automatic. A central computer

controls both machines and transport system. Flexible

manu Pac tur ing systems sometimes process several different

workpieces at any one time.

- 12-
ADAPTIVE CONTROL

A control method in which control parameters

and automa t i ca 1 1 y adjusted in response to

variables to achieve better performance.

are continuously

measured process

-13
4 . MANUFACTURING SYSTEMS

BATCH MANUFACTURING

The production of parts in discrete runs; or batches; interspersed with other production operations or runs of other

parts.

MASS PRODUCTION

The large scale production of parts in a continuous process

uri in ter up ted by the production of other parts.

JOB SHOP

A discrete parts manuf ac tur ing facility characterized by a mix of products of relatively low volume production in batch

lots.

COMPUTER AIDED DESIGN (CAD)

The use of a computer to assist in the creation or modification of a design.

COMPUTER AIDED MANUFACTURE (CAM)

The use of computer technology in the management; control;

and operation of manuf ac tur ing.

NUMERICAL CONTROL (NC)

A technique that provides for the automatic control of a machine tool from information prerecorded in symbolic form

representing every detail of the machining sequence.

COMPUTER NUMERICAL CONTROL (CNC)

The use of a dedicated mini or microcomputer to implement the

numerical control function. Uses local data input from devices such as paper tape; magnetic tape cassette or floppy

disk.

- 14-
DISTRIBUTED NUMERICAL CONTROL ( DNC

)

The use of a computer for distributing part program data via

data lines to a plurality of remote NC machine tools.

WORK STATION

A manu Fac tur ing unit consisting of one or more numerically

controlled machine tools serviced by a robot.

CELL

A menu f ac t ur ing unit consisting of two or more work stations

and the materials transport mechanisms and storage buffers

which interconnect them.

CENTER

A menu f=ac tur ing unit consisting of two or more cells and the

materials transport and storage buffers which interconnect

them.

FACTORY

A manu f=ac tur ing unit consisting of two or more centers and

the materials transport; storage buffers; and communications

which interconnect them.

- 15-
5. MECHANICAL HARDWARE

5. 1 STRUCTURE

ARM

An interconnec ted set of links and powered joints comprising

a manipulator which supports or moves a wrist and hand or end

e P Pec tor.

ELBOW

The joint which connects the upperarm and forearm.

FOREARM

That portion of a jointed arm which is connected to the

wrist.

UPPERARM

That portion of a jointed arm which is connected to the

shoul der.

HAND

A device attached to the wrist having a mechanism with closing jaws or other means to grasp objects.

WRIST

A set of rotary joints between the arm and hand which allow

the hand to be oriented to the workpiece.
BASE

The platform or structure to which the shoulder of a robot

arm is attached; the end of a kinematic chain of arm links

and joints opposite to that which grasps or processes external objects.

SHOULDER

The joint; or pair of joints* which connect the arm to the

base.

JOINT

A rotational or trans lat i ona 1 d egree-of-freedom in a manipulator system.

END EFFECTOR

An actuator* gripper* or mechanical device attached to the

wrist of a manipulator by which objects can be grasped or

otherwise acted upon.

GRIPPER

A device by which a robot may grasp and hold external objects.

5. 2 ACTUATORS

ACTUATOR

A motor or transducer which converts electrical* hydraulic or

pneumatic energy to effect motion of the robot.

- 17-
TRANSDUCER

A device which converts one form of energy into another form

of energy.

POWER CYLINDER

A linear mechanical actuator consisting of a piston in a cylindrical vol ume and driven by high pressure hydraulic or

pneumatic fluid.

HYDRAULIC MOTOR

An actuator consisting of interconnected valves and pistons

or vanes which converts high pressure hydraulic or pneumatic

fluid into mechanical shaft translation or rotation.

INDUCTION MOTOR

An alternating current motor in which torque is produced by

the reaction between a varying or rotating magnetic field

that is generated in stationary field magnets and the current

that is induced in the coils or circuits of the rotor.

SERVOMECHANISM

An automatic control mechanism consisting of a motor driven

by a signal which is a function of the difference between

commanded position and/or rate and measured actual position

and/or rate.

SERVOVALVE

A transducer whose input is a low-energy signal and whose

output is a higher energy fluid flow which is proportional to

the loui-energy signal.

SOLENOID

A cylindrical coil of wire surrounding a movable core which/

when energized/ sets up a magnetic field and draws in the

core.

- 18-
STEPP 3 MO MOTOR

An electric motor whose windings are arranged in such a way

that the armature can be made to step in discrete rotational

increments (typically 1/200 th of a revolution) when a digital pulse is applied to an accompanying "driver" circuit. The

armature displacement will stay locked in this angular position independent of applied torque; up to a limit.

5. 3 POWER AND TRANSMISSION

CABLE DRIVE

Transmission of power from an actuator to a remote mechanism

by means of a flexible cable and pulleys.

TAPE DRIVE

Transmission of power from an actuator to a remote mechanism

by means of flexible tape and pulleys.

CHAIN DRIVE

Transmission of power from an actuator to a remote mechanism

by means of a flexible chain and mating toothed sprocket

wbee 1 <>.

LEAD SCREW

A precision machine screw which; when turned; drives a sliding nut or mating part in translation.

STOP

A mechanical constraint or limit on some motion which can be

set to stop the motion at a desired point.

- 19-
LIMIT SWITCH

An elt?ctrical switch which is actuated

reaches a specified limit/ thereby

c ease.

when a moving part

causing the motion to
6 . PERFORMANCE MEASURES

ACCURACY

Quality! state! or degree of conformance to a recognized

standard or sp ec i f i ca t i on. Degree to which actual position c orr espond s to desired or

commanded position.

CALIBRA1 ION

To determine the deviation from a standard so as to ascertain

the proper corrections.

DRIFT

The tendency of a system's response to gradually move away

from the desired response.

DYNAMIC ACCURACY

Degree of conformance to the true value when relevant variables ere changing with time.

Degree to which actual motion corresponds to desired or commanded motion.

FAIL SAFE

Failure of a device without danger to personnel or damage to

product or plant facilities.

FAIL SOFT

Failure in performance of some component part of a system

without immediate major interruption or failure of performance of the system as a whole and/or sacrifice in quality of

the product.

-21 -
GRACED UL DEGRADATION

Decline in performance of some component part of a system

without immediate and significant decline in performance of

the system as a whole and/or decline in the quality of the

product.

LINEARITY

The degree to which input-output is a directly proportional

relationship.

The degree to which a motion intended to be in a straight

line conforms to a straight line.

LOAD

In physics# the external force applied to a body# or the energy required# also# the act of applying such force or requiring such energy.

LOAD CAPACITY

The maximum weight or mass of a material that can be handled

by a machine or process without degradation of performance

specifications or failure of the equipment.

22-
LONG TERM REPEATABILITY

Closeness of agreement of position movements; repeated under

the same conditions during a long time interval; to the same

1 o c a t i on.

MAXIMUM SPIED

The greatest rate at which an operation can be accomplished

according to some criterion of sa t i s f ac t i on.

The greatest velocity of movement of a tool or end effector

which can be achieved in producing a satisfactory result.

MEAN-T 1 MF M ETWEEN-F

A

I LURES ( MTBF ) The average time that a device will operate before failure.

MEAN-T IMF -10-REPAIR ( MTTR

)

The average time needed to repair or service a device after

failure.

NET LOAD CAPACITY

The additional weight or mass of a material that can be handled by a machine or process without failure over and above

that required for a container; pallet or other device which

necessarily accompanies the material.

PAYLOAD

The maximum weight or mass of a material that can be handled

satisfactorily by a machine or process in normal and continuous operation.

PERFORMANCE

The quality of behavior.

The degree to which a specified result is achieved.

A quantitative index of such behavior or achievement; such as

speed; power; or accuracy.

-23-
PLAYBACK ACCURACY

DiPPerence between a position command recorded in an automatic control system and that actually produced at a later time

when the recorded position is used to execute control.

DiPPerence between actual position response of an automatic

control system during a programming or teaching run and that

c orresp ond ing response in a subsequent run.

PRECISION

The standard deviation/ or root-mean-squared deviation of

values around their mean.

RATED LOAD CAPACITY

A specified weight or mass of a material that can be handled

by a machine or process which allows for some margin of safety relative to the point of expected failure.

RELIABILITY

The probability that a device will function without failure

over a specified time period or amount of usage.

REPEATABILITY

Closeness of agreement of repeated position movements/ under

the same conditions/ to the same location.

RESOLUTION

The least interval between two adjacent discrete details

which can be distinguished from one another.

The smallest increment of distance that can be read and acted

upon by an automatic control system.

SHORT-TERM REPEATABILITY

Closeness of agreement of position movements/ repeated under

the same conditions during a short time interval/ to the same

location.

-24-
SPEED-PAYL HAD TRADEOFF

The relationship between corresponding values of maximum

speed and payload with which an operation can be accomplished

to some criterion of sati sfac t ion, and with all other factors

remaining the same. See Maximum speed and Payload.

SPEED -RH J ABILITY TRADEOFF

The relationship between corresponding values of maximum

speed and reliability with which an operation can be accomplished to some criterion of sa t i s f ac t i on, and with all other

Factors remaining the same. See Maximum speed and Reliability

3PR INGBACK

The def-lection of a body when external load is removed. Usually refers to deflection of the end effector of a manipulator arm.

STATIC ERROR

Deviation from true value when relevant variables are not

changing with time.

Dif-Perence between actual position response and position

desired or commanded of an automatic control system as determined in the steady state, i. e. , when all transient responses

have died out.

-25-
STEADINESS

Re 1 stive absence of high frequency vibration or jerk.

STRENGTH

Same as load capacity.

-26-
7. STATICS AND KINEMATICS

AZIMUTH

Direction of a straight line to a point in a horizontal

plane/ expressed as the angular distance from a reference

line/ such as the observer's line of view.

BACKLASH

Free play in a power transmission system# such as a gear

train# resulting in a characteristic form of hysteresis.

e>ACK.t-A,SH r?£i_An m£
CARTESIAN COORDINATE SYSTEM

A coordinate system whose axes or dimensions are three intersecting perpendicular straight lines and whose origin is the

inter sec t i on.

CENTER OF GRAVITY

That point in a rigid body at which the entire mass of the

body could be concentrated and produce the same gravity

resultant as that for the body itself.

COMPLIANCE

The quality or state of bending or deforming to stresses

within the elastic limit.

The amount of displacement per unit of applied force.

inch C/kTEO

Point

-28
CYLINDRICAL COORDINATE SYSTEM

A coordinate system which defines the position of any

in terms of an angular dimension* a radial dimension*

height from a reference plane.

INDICATED

DEAD ZONE

A range within which a non-zero input causes no output.

point

and a

-29-
DEGREE OF FREEDOM

One of a limited number of ways in which a point or a body

may move or in which a dynamic system may change, each way

being expressed by an independent variable and all required

to be specified if the physical state of the body or system

is to be completely defined.

DISTAL

Away from the base, toward the end effector of the arm.

DROOP

Same as static load deflection.

ELEVA1 ION

Direction of a straight line to a point in a vertical plane,

expressed as the angular distance from a reference line, such

as the observer's line of view.

END POINT RIGIDITY

The resistance of the hand, tool or end point of a manipulator arm to motion under applied force.

EXTENSION

A linear motion in the direction of travel of the sliding motion mechanism, or an equivalent linear motion produced by

two or more angular displacements of a linkage mechanism.

FIXED COORDINATE SYSTEM

A coordinate system fixed in time and space.

-30-
HYSTERESIS

The 1 caging of a physical response of a body behind its

caute,

Asymmetry of the force/displacement relationship in one

direction compared to other.

JOINT SPACE

The r.pace dePined by a vector whose components are the angular or tr ans la t i ona 1 displacement of each joint of a multidegree -of-f reed om linkage relative to a reference displacement Pnr each such joint.

LINEAR

The quality of an input-output relationship in which there is

direct proportionality.

LOAD DEFLECTION

The difference in position of some point on a body between a non-loaded and an externally loaded condition.

The difference in position of a manipulator hand or tool,

usually with the arm extended, between a non-loaded condition

(othe’r than gravity) and an externally loaded condition. Either or both static and dynamic (inertial) loads may be consi der-cd.

-31 -
PAN

Orientation of a view, as with a video camera, in azimuth.

Notion in the azimuth direction.

PITCH

The angular rotation of a moving body about

dicular to its direction of motion and in

its top side.

an axis perpenthe same plane as

POLAR COORDINATE SYSTEM

Same as SPHERICAL COORDINATE SYSTEM.

PRONATION

Orientation or motion toward a position with the back, or

protected side, facing up or exposed.

PROXIMAL

Close to the base, away from the end effector of the arm.

RECTANGULAR COORDINATE SYSTEM

Same as cartesian coordinate system but applied to points in

a plane (only two axes used).

RELATIVE COORDINATE SYSTEM

A coordinate system whose origin moves relative to world or

fixed coordinates.

REMOTE CENTER COMPLIANCE (RCC)

A compl iant d evi

ical workhead to

gripped par t to

rota tin g when pu

v i d e s g eneral la

eases robot or

err or

s

in par t s, useful in p erf

insert

i

ons.

ce used to interfa

its tool or worki

rotate about its t

shed laterally at

teral and rotati

other mechanical

jigs, pallets and

orming very clos

ce a robot or other mechanng medium. The RCC allows a

ip or to translate without

its tip. The RCC thus proonal "float" and greatly

assembly in the presence of

robots. It is especially

e clearance or interference

-32-
ROLL

The angular displacement of a moving body around the principal axis of its motion.

SATURATION

The extremes of operating range wherein the output is

stavit regardless of changes in input.

SPHERICAL. COORDINATE SYSTEM

A coordinate system* two of whose dimensions are angles*

third being a linear distance from the point of origin,

three coordinates specify a point on a sphere.

c ont h e These

-33-
STATIC DEFLECTION

Load deflection considering only static loads* i. e. * excluding inertial loads. Sometimes static deflection is meant to

include the effects of gravity loads.

STIFFNESS

The amount of applied force per unit of displacement of a compliant body.

SUPINATION

Orientation or motion toward a position with the front* or

unprotected side* facing up or exposed.

TILT

Orientation of a view* as with a video camera* in elevation.

Motion in the elevation direction.

TRANSLATION

Movement of a body such that all axes remain parallel to what

they were* i. e. without rotation.

WINDUP

Colloquial term describing the twisting of a shaft under torsional load* so called because the twist usually unwinds*

sometimes causing vibration or other undesirable effects.

WORKING ENVELOPE

The set of points representing the maximum extent or reach of

-34-
the robot hand or working tool in all directions.

WORKING RANGE

All pooitions within the working envelope.

The range of any variable within which the system normally

operates.

WORKING SPACE OR VOLUME

The physical space bounded by the working envelope in physical s p & c e

.

WORLD COORDINATES

A coordinate system referenced to earth* or a shop floor.

TWIST

Rotational displacement around a reference line* same as

r o ) 1

.

-35-
YAW

The angular displacement of a moving body about an axis which

is perpendicular to the line of motion and to the top side of

t h e body.

-36-
8. DYNAMICS AND CONTROL

ACTIVE ACCOMMODATION

Integration of sensors/ control/ and robot motion to achieve

alteration of a robot's preprogrammed motions in response to

sensed forces. Used to stop a robot when forces reach set

levels/ or to perform force feedback tasks like insertions/

door opening and edge tracing.

ANALOG CONTROL

Control involving analog signal processing devices (electronic/ hydraulic/ pneumatic/ etc. )

DANDWIDI

M

The range of frequencies contained in a time function.

The range of frequencies to which a dynamic system will

respond.

The range of frequencies which a c ommun i cat i on channel will

P S f>

.

BANG-BANG CONTROL

A binary control system which rapidly changes from one mode

or state to the other (in motion systems/ this applies to

direction only).

-37-
BANG-BANG -OFF CONTROL

A ternary control system which rapidly changes from one mode

or state to another# or does nothing. (In motion systems#

this applies to direction only).

BREAKAWAY FORCE

Same as static friction# though this term implies more

strongly that the resistive force is not constant as the relative velocity increases.

CLOSED-LOOP CONTROL

Control achieved by feedback# i. e. # by measuring the

to which actual system response conforms to desired

response and utilizing the difference to drive the

into conformance.

degree

system

system

COMPENSATION

Logical operations employed

dynamic lags or otherwise

between measured signals and

prompt stable response.

in a control

to modify

controller

scheme to counteract

the transformation

output to produce

-38-
COMPUTED PATH CONTROL

A control scheme wherein the path of the manipulator endpoint

is computed to achieve a desired result in conformance to a given criterion* such as an acceleration limit* a minimum

time* etc.

COMPUTER CONTROL

Control involving one or more electronic digital computers.

CONTINUOUS PATH CONTROL

A control scheme whereby the inputs or commands specify every

point along a desired path of motion.

CONTROL

The process of making a variable or system of variables conform to what is desired.

A device to achieve such conformance automatically.

A device by which a person may communicate his commands to a

mil chine.

CONTROLLER

A device to achieve control.

COORDINATED AXIS CONTROL

Control wherein the axes of the robot arrive at their respective endpoints simultaneously* giving a smooth appearance to

the motion.

Control wherein the motions of the axes are such that the

endpoint moves along a prespecified type of path (line* circle, etc). Also called endpoint control.

-39-
DAMP I m

The absorption of energy from a moving body for the purpose

oP controlling oscillatory vibrations. This term has an

electrical analog.

DERIVATIVE CONTROL

Control scheme whereby the actuator drive signal is proportional to the time derivative of the difference between the

input (desired output) and the measured actual output.

DIGITAL CONTROL

Control involving digital logic devices which may or may not

be complete digital computers.

DISTRIBUTED CONTROL

A control technique whereby portions of a single control pro

cess are located in two or more places.

HIERARCHICAL CONTROL

A disributed control technique in which the controlling

processes are arranged in a hierarchy. See Hierarchy.

DYNAMIC RANGE

The extent of any variable of a system.

ENDPOINT CONTROL

Any control scheme in which only the motion of the manipulator end point may be commanded and the computer can command

the actuators at the various degrees of freedom to achieve

the desired result.

ERROR SIGNAL

The difference between desired response and actual response.

-40-
FEEDBACK

A 53 (i Ticj 1 derived from the output which is used to drive the

control actuator.

FREQUENCY RESPONSE

The output of a system with a periodic input. Frequency

response may be defined in terms of the fourier coefficients

or the gain and phase at each multiple of the period.

The characterization of system output to a continuous spectral input according to a continuous plot of gain and phase

as a Function of frequency.

Pha.sc

-41
FRICTION

The resistive forces resulting from two bodies sliding relative to one another.

INERTIA

The tendency of a mass at rest to remain at rest/ and of a mass iri motion to remain in motion.

The Newtonian property of a physical mass that a force is required to change the velocity/ proportional to the mass and

the time rate of change of velocity.

INTEGRAL CONTROL

Control scheme whereby the signal which drives the actuator

equals the time integral of the error signal.

LAG

The tendency of the dynamic response of a physical system to

be delayed.

The phase difference between input and response sinusoids.

Any time parameter which characterizes the delay of a response relative to an input.

LEARNING CONTROL

A control scheme whereby experience is automatically used to

change control parameters or algorithms.

MODERN CONTROL

A general term used to encompass both the description of systems in terms of state variables and canonical state equations/ and the ideas of optimal control.

-42-
MULTIPROCESSOR CONTROL

A control scheme which employs more than one central processing unit in simultaneous parallel computation.

NOISE

A spurious* unwanted or disturbing signal.

OBJECTIVE E UNCTION

An equation defining a scalar quantity (to be minimized under

given constraints by an optimal controller) in terms of such

performance variables as error* energy and time. The objective function defines a tradeoff relation between the variables.

OPEN LOOP CONTROL

Control achieved by driving control actuators with a sequence

of pr c pr ogrammed signals without measuring actual system

response and closing the feedback loop.

OPTIMAL CONTROL

A control scheme whereby the system response to a commanded

input is optimal according to a specified objective function

or criterion of performance* given the dynamics of the process to be controlled and the constraints on measuring.

-43-
0VERSH001

The degree to which a system response to a step change in

reference input goes beyond the desired value.

Re^Pom s-e

PASSIVE ACCOMMODATION

Compliant behavior of a robots endpoint in response to

forces exerted on it. No sensors* controls or actuators are

involved. The remote center compliance provides this in a coordinate system acting at the tip of a gripped part.

POINT-TO-POINT CONTROL

A control scheme whereby the inputs or commands specify only

a limited number of points along a desired path of motion.

The control system determines the intervening path segments.

POSITION CONTROL

Control by a system in which the input command is the desired

position of a body.

PROCESS CONTROL

Control of the product and associated variables of processes

(such as oil refining* chemical manufacture* water supply*

and electrical power generation) which are continuous in

time.

-44-
PROPORTIONAL CONTROL

Control scheme whereby the signal which drives the actuator

is monoton i ca 1 1 y related to the difference between the input

command (desired output) and the measured actual output.

PROPORT TONAL- INTEGRAL-DERIVATIVE CONTROL (PID)

Control scheme whereby the signal which drives the actuator

equals a weighted sum of the difference* time integral of the

difference* and time derivative of the difference between the

input (desired output) and the measured actual output.

RATE CONTROL

Control system in which the input is the desired velocity of

the controlled object.

SENSORY CONTROL

Control of a robot based on sensor readings. Several types

can be employed.

Sensors used in threshold tests to terminate robot activity or branch to other activity.

Sensors used in a continuous way to guide or direct

changes in robot motions. (See accomodation.

)

Sensors used to monitor robot progress and to check for

task completion or unsafe conditions.

Sensors used to retrospectively update robot motion

plans prior to the next cycle.

RESOLVED MOTION RATE CONTROL

A control scheme whereby the velocity vector of the endpoint

of a manipulator arm is commanded and the computer determines

the joint angular velocities to achieve the desired result.

Coordination of a robot's axes so that the velocity vector of

the endpoint is under direct control. Motion in the coordinate system of the endpoint along specified directions or

trajectories (line* circle* etc. ) is possible. Used in manual

control of manipulators and as a c omp uta t i ona 1 method for

achieving programmed coordinate axis control in robots.

-45-
SETTLING TIME

The time for a damped oscillatory response to decay to within

some given limit.

SLEW RATE

The maximum rate at which a system can follow a commanded mot i on.

STATIC FRICTION

The force required to initiate sliding or rolling motion

between two contacting bodies.

Force

STEADY STATE

General term referring to a value which does not change with

time.

Response of a dynamic system in accordance with its characteristic behavior* i. e.

after any transient response has

died outi the steady state response may be either a constant

or periodic signal.

-46-
ST I CT I ON

Same ss static friction.

SUPERVISORY CONTRGL

A control scheme whereby a person or computer monitors and

intermittently reprograms/ sets subgoals or adjusts control

parameters of a lower level automatic controller/ while the

lower level controller performs the control task continuously

in real time.

TIME CONSTANT

Any of a number of parameters of a dynamic function which

have units of time.

Parameters which particularly characterize the temporal properties of a dynamic function/ such as the period of a periodic function or the inverse of the initial slope of a first order exponential response to a step.

TRACKING

Continuous position control response to a continuously changing input.

TRANSIENT

A value which changes/ decays/ or disappears in time.

Momentary response of a dynamic system to a rapid input variation such as a step or a pulse.

-47-
UNDERSHOOT

The decree to which a system response to a step change in

reference input falls short of the desired value.

VISCOUS FRICTION

The resistive force on a body moving through a fluid.

Ideally, a resistive force proportional to relative velocities of a body and a fluid.

-48-
9. SENSORY FEEDBACK

9. 1 MACHINE VISION

VIDECON

An electron tube device

vert an optical image

scanning of an electron

used in a television camera to coninto an electrical signal through the

beam over a photo sensitive window.

SOLID STATE CAMERA

A television camera which has an array of photosensitive semiconductor elements to produce a TV output.

CID CAMERA

A solid state television camera which uses charge injection

device <CID) technology.

CCD CAMERA

A solid state television camera which uses charge coupled

device <CCD) technology.

LINEAR ARRAY CAMERA

A solid state television camera which has only one row of

photosensitive elements.

MATRIX ARRAY CAMERA

A solid state television camera which has a rectangular array

of photosensitive elements.

-49-
STRUCTURED LIGHT

Illumination which is projected in a particular geometrical

pattern.

ACTIVE ILLUMINATION

Light which is controlled in intensity, direction, or projection pattern by a set of commands or signals from a controlling source.

FRAME BUFFER

A device which can store a television picure (or frame) for

later processing.

BINARY PICTURE

A video picture with only two shades of brightness (white and

black).

GREY SCALE PICTURE

A video picture with many shades of brightness.

SEGMENTATION

The dividing up of a picture into regions according to some

property of the picture within the regions or along the region boundaries.

TEMPLATE MATCHING

The comparison of a picture, or other data set, against a stored pattern, or template.

RUN-LENGTH ENCODING

A method of denoting the length of a string of elements each

of which has the same property. Usually used in denoting the

length of strings of picture elements with the same brightness.

- 50-
THRESHOLDING

The comparison of an element value# such as pixel brightness#

against a set point value# or threshold. All elements whose

values are above threshold are set to the binary value "1".

All elements beloui threshold are set to the binary value "o".

PIXEL

Contraction for picture element. A light sensitive point in

an array of such points which comprise a picture.

9. 2 NON-IMAGING SENSORS

SENSOR

A transducer whose input is a physical phenomenon and whose

output is a quantitative measure of that physical phenomenon.

SMART SENSOR

A sensing device whose output signal is contingent upon

mathematical or logical operations which are based upon

internal data or additional sensing devices.

TACTILE SENSOR

A transducer which is sensitive to touch.

RESOLVER

A transducer which converts rotary or linear mechanical position into an • analog electrical signal by means of the interaction of elec tromagnetic fields between the movable and

the stationary parts of the transducer.

- 51 -
ENCODER

A transducer used to convert angular or linear position or

velocity into electrical signals.

A device used to convert one form of information into another.

SHAFT ENCODER

An encoder used to measure shaft angle position.

TACHOMETER

A rotational velocity sensor.

SYNCHRO

A shaft encoder based upon differential inductive coupling

between an energized rotor coil and field coils positioned at

different shaft angles.

CONTACT SENSOR

A device capable of sensing mechanical contact.

POTENTIOMETER

An encoder based upon tapping the voltage at a point along a continuous electrical resistive element.

CONDUCTIVE RUBBER

A material consisting of carbon or silver spheres suspended

in rubber/ whose electrical resistance decreases gradually as

it is mechanically compressed.

STRAIN GAGE

A sensor which when cemented to elastic materials measures

very small amounts of stretch by the change in its electrical

resistance. When used on materials with high modulus of elasticity strain gages become force sensors.

-52-
STRAIN GAGE ROSETTE

Multiple

geometric

strain on

of strain

strain gag

pattern

each can

or force.

es c sue

be c

emented

h that

omb ined

in a indsp

to y

tuio or three dimensional

endent measurements of the

ield a vector measurement

PROXIMITY SENSOR

A devic

( e. g. * away it

angulat

sound#

back pr

e which s a few

is. Pro

ion of

or intens

essure fr

enses that an

inches or fee

ximity sensor

reflected li

ity induced e am air jets*

object is only a sh

t) away* and/or meas

s work on the princi

ght* lapsed time f

ddy currents* magne

and others.

ort

ures

pies

or r tic

d

e

i stanc e how far

of trif lected

fields*

PIEZO ELECTRIC

The property of certain crystalline salts to produce an

electrical charge on the surface of the crystal as a function

of mechanical pressure.

- 53-
10. COMPUTER AND CONTROL HARDWARE

CONTROLLER

An information processing device whose inputs are both

desired and measured position velocity or other pertinent

variables in a process and whose outputs are drive signals to

a controlling motor or actuator.

A communication device through which a person introduces commands to a control system.

A person who does the same.

PROGRAMMABLE CONTROLLER

A controller whose algorithm for computing control outputs is

programmab le.

CENTRAL PROCESSING UNIT (CPU)

The part of a computer that executes instructions and

operates on data.

MICROPROCESSOR

The principal processing element of a microcomputer constructed as a single integrated circuit.

MICROCOMPUTER

A computer which uses a microprocessor as its basic element.

MULTIPROCESSOR

A computer or network of computers that can execute several

programs concurrently under integrated control.

-54-
HOST COMPUTER

The primary or controlling computer in a multiple computer

operat ion.

MEMORY

A device into which data can be entered* in which it can be

stored* and from which it can be retrieved at a later time.

MAGNETIC CORE MEMORY

A con-figuration of magnetic beads strung on current carrying

conductors which retain magnetic polarization for the purpose

of storing and retrieving data.

READ ONLY MEMORY (ROM)

A data storage device generally used for a control program*

whose content is not alterable by normal operating procedures.

PROGRAMMABLE READ ONLY MEMORY (PROM)

A read only memory which can be modified by special electronic procedures.

READ AND WRITE MEMORY (RAM)

A data storage device which can be both read from and written

into (i.e.

modified) during the normal execution of a program.

METAL-OXIDE SEMICONDUCTOR (MOS)

A semiconductor manufac tur ing technology used to produce

large scale integrated (LSI ) circuit logic components.

COMPLEMENTARY METAL-OXIDE SEMICONDUCTOR (CMOS)

An integrated circuit logic family character i zed by very low

power dissipation* moderate circuit density per chip* and

moderate speed of operation.

-55-
INTEGRATED CIRCUIT (IC)

An electronic circuit packaged in a small unit ranging in

complexity and function from simple logic gates to microprocessors* amplifiers* and analog-d ig ital converters. The circuit may be constructed on a single semiconductor substrate

<a configuration called monolithic) or several such circuits

can be connected in one package (called a hybrid).

LARGE SCALE INTEGRATION (LSI)

A c lassif icat ion for a scale of complexity of an integrated

electronic circuit chip. Other classes are very large scale

integration (VLSI)* medium scale integration (MSI) and small

scale integration (SSI).

SILICON CONTROLLED RECTIFIER (SCR)

A binary solid-state electronic switching device generally

used in controlling high-power loads such as electric motors*

solenoids* etc.

OPERATIONAL AMPLIFIER

A high gain electronic circuit* used in a variety of amplification applications. Can be connected to provide the integral of an input. Often used in analog computers.

MULTIPLEXER

A hardware device which allows communication of multiple signals over a single channel by sequential sampling.

ANALOG-TO-D I G ITAL CONVERTER (A/D)

A device which transforms an analog signal into a digital

quantity.

DIGITAL-TO-ANALOG CONVERTER (D/A)

A device which transforms a digital quantity into an analog

signal.

-56-
PERIPHERAL DEVICE

Any piece of computer

cessing unit and main

equipment* apart

memory system.

from the central pro-

- 57-
11. SOFTWARE

ACCESS TIME

The time interval between the instant when data are requested

from a storage device and the instant when delivery is completed.

ASSEMBLER

A program that translates symbolic code into machine language

and assigns memory locations for variables and constants.

ASSEMBLY LANGUAGE

A computer language! composed of brief symbolic expressions/

which is translated by an assembler into a machine language.

The language result (object code) from the assembler is a

1 ine-f or-1 ine translated version of the original.

BACKGROUND PROCESSING

The execution of lower priority programs when higher priority

programs are not using the system resources. Contrast with

Foreground Processing.

COMPILER

A program that converts a program written in a high level

language (such as FORTRAN) into binary coded instructions

that the machine can interpret.

BRANCHING

Changing of the normal sequential execution of statements in

a program.

-58-
CONDITIONAL STATEMENT

A computer program step whose results depend upon whether

certain tests or criteria are met.

CROSS-ASSEMBLER

A computer program to assemble language instructions into a

form suitable for running on another computer.

DATA BASE

A collection of data relevant to a particular object or process which is organized in a systematic structure.

DEFAULT VALUE

A value which is used until a more valid value is found.

DIAGNOSTIC

Pertaining to the detection and isolation of a malfunction or

mistake.

DOUBLE PRECISION

Pertaining to the use of two computer words to represent a number.

EDIT

To modify the form or format of data# e. g. # to insert or

delete characters.

EDITOR

A routine or mechanism which performs editing operations.

- 59-
EXECUTE

To carry out an instruction or perform a routine.

FILE

A repository of organized information consisting of records,

items or arrays* and data elements.

FIRMWARE

Programs loaded in read-only memory (ROM). Firmware is often

a fundamental part of the system's hardware design as contrasted to software* which is not fundamental to the hardware

operation.

FIXED POINT REPRESENTATION

A number system in which the position of the decimal point is

fixed with respect to one end of the string of numerals* according to some convention.

FLOATING POINT REPRESENTATION

A number representation system in which each number is

represented by a pair of numerals. One of the numerals

represents the exponent of an implicit base. The other

represents the most significant digits of the original

number.

FOREGROUND PROCESSING

The execution of programs that have been designed to preempt

the use of computing facilities. Usually a real-time program. (Contrast with Background Processing.

)

HEXADECIMAL

Pertaining to a number system with a base of 16. The digits

of the hexadecimal number system are 0* 1* 2* 3* 4* 5* 6* 7*

8, 9, A* B* C, D* E* F.

-60-
HIGH-LEVEL LANGUAGE

Programming language that generates machine codes from problem or function oriented statements. ALGOL/ FORTRAN/ PASCAL

and BASIC are four commonly used high-level languages. A

single functional statement may translate into a series of

instructions or subroutines in machine language# in contrast

to a low-level (assembly) language in which statements

translate on a one-for-one basis.

INSTRUCTION SET

The list of machine language instructions which a computer

can perform.

INTERLOCK

To prevent a machine or device from initiating further operations until the operation in process is completed.

INTERPRETER

A program that translates and executes each source language

expression before translating and executing the next one.

A routine which decodes instructions and produces a machine

language routine to be executed at a later time.

INTERRUPT

To stop the normal processing of a computer for the purpose

of input/output of data# or for making an inquiry or receiving a reply# or carrying out interactive processes or procedures.

LOOP

A sequence of instructions that is executed repeatedly until

some specified condition is met.

-61 -
MACHINE LANGUAGE

A language that is used directly by a machine.

MACRO

A sequence of instructions which is defined under a single

name. Each time the macro is invoked* the sequence of instructions is generated.

MEMORY PROTECTION

An arrangement for preventing access to storage for either

reading or writing or both.

MENU

A display of options on a terminal device for user selection.

MONITOR

Software* or firmware that observes* supervises* controls* or

verifies the operations of a system.

OPERATING SYSTEM

Software which controls the execution of computer programs

and which may provide scheduling* debugging* input-output

control* accounting* computation* storage assignment* data

management and related services.

PARALLEL PROCESSING

Concurrent or simultaneous execution of two or more operations in devices* such as multiple arithmetic or logic units.

PARITY CHECK

A test to determine

an array of binary

are widely used for

computer memories.

whether the number of ones (or zeroes) in

digits is even or odd. Such parity checks

paper tapes* magnetic tapes and other

-62-
REAL TIME

Pertaining to computation performed in synchroni zation with

the related physical process.

REAL TIME CLOCK

A device that generates periodic signals used for synchronization.

A register or storage area whose contents change at regular

intervals in such a way as to measure time.

SOURCE PROGRAM

A program^ usually written in a high level language/ which is

the input to a compiler/ assembler/ or interpreter.

OBJECT PROGRAM

A program which is the output of a compiler or assembler.

-63-
12. OPERATOR INTERFACES

12. 1 DISPLAYS

ANNUNCIATOR

A light or sound signal designed to attract attention.

CURSOR

A movable pointer* indicator or marker on a visual display.

CATHODE-RAY TUBE (CRT)

A device that presents data in visual -Form by means of a con

trolled electron beam impinging on a phosphoresc ent surface.

LIGHT EMITTING DIODE (LED)

A semiconductor device that gives off light when current

passes through it.

LIQUID CRYSTAL DISPLAY (LCD)

A display device* consisting of liquid crystal material hermetically sealed between two glass plates* which changes its

optical properties under the influence of electrical current.

One type of LCD depends upon ambient light for its operation*

while a second depends upon a backlighting source.

THERMOCHROMIC DISPLAY

A display device consisting of materials which change to dif

ferent colors when heated to different temperatures.

-64-
STORAGE TUBE

A CRT display device which retains a graphic image of a set

of written signals until cleared or reset.

SCROLL

A graphic display technique whereby the generation of a new

line of alphanumeric text at the bottom (or top) of a display

screen automat i cal ly regenerates all other lines of text one

line higher (or lower) than before* deleting the top (or bottom) line when it reaches the upper (or lower) limit of the

d isp lay.

12. 2 PROGRAMMING TECHNIQUES

ANALOGIC CONTROL

Pertaining to control by communication signals which are physically or geometrical ly isomorphic to the variables being

controlled* usually by a human operator.

A device for effecting such control. Compare to Symbolic

Control.

EXOSKELETON

An articulated mechanism whose joints correspond to those of

a human arm and* when attached to the arm of a human operator* will move in correspondence to his. Exoskeletal devices

are sometimes instrumented and used for master-slave control

of manipulators.

JOYSTICK

A movable handle which a human operator may grasp and rotate

to a limited extent in one or more degrees of freedom* and

whose variable position or applied force is measured and

results in commands to a control system.

-65
REPLICA MASTER

A control device which duplicates a manipulator arm in shape.

Control is achieved by servoing each joint of the manipulator

to the corresponding joint of the replica master.

SWITCH CONTROL

Control of a machine by a person through movement of a switch

to one of two or a small number of positions.

SYMBOLIC CONTROL

Pertaining to control by communication of discrete alphanumeric or pictorial symbols which are not physically isomorphic with the variables being controlled# usually by a human operator.

A device for effecting such control. Compare to analogic control.

TEACH

To program a manipulator arm by guiding it through a series

of points or in a motion pattern which is recorded for subsequent automatic action by the manipulator.

TEACHING INTERFACE

The mechanisms or devices by which a human operator teaches a machine. (See teach.

)

ROBOT PROGRAMMING LANGUAGE

A computer language especially designed for writing programs

for controlling robots.

i

—66—
13. COMMUNICATIONS

ANALOG COMMUNICATIONS

Transmission of information in the form of a continuously

varying physical quantity.

DIGITAL COMMUNICATIONS

Transmission of information in the form of discrete states.

SERIAL COMMUNICATIONS

Transmission of digital data on a single channel where data

bits occur serially in time.

PARALLEL COMMUNICATIONS

Simultaneous transmission of digital data bits over separate

channels.

COMMUNICATIONS LINK

A path over which information can be transmitted from one

point to another. Typically for computer communications this

takes the form of a wire or optical fiber.

MODULATOR-DEMODULATOR (MODEM)

An electronic device that sends and receives digital data using telecommunication lines. To transmit data* the digital

signals are used to vary (modulate) an electronic signal that

is coupled into the telecommunication lines. To receive data*

the electronic signals are converted (demodulated) to digital

data.

4

-67-
ACOUSTIC COUPLER

An electronic device that sends and receives digital data

through a standard telephone handset. To transmit data* the

digital signals are converted to audible tones that are

acoustically coupled to a telephone handset. To receive data# the acoustically coupled audible signals are converted to

digital signals.

BAUD

A unit of signalling speed equal to the number of discrete

conditions of signal events per second.

FULL DUPLEX

In communications# pertaining to simultaneous two-way independent transmission in both directions.

HALF DUPLEX

In communications# pertaining to alternate# one-way-at-atime# transmissions.

RS 232

A standard electrical interface for connecting peripheral

devices to computers. Maximum range 40 feet and a maximum

speed of 20# 000 baud.

RS 449

A general purpose interface standard for data terminal equipment and data c ircui t-terminat ing equipment employing serial

binary data interchange. Mas developed to overcome some of

the inherent limitations of RS-232. The standard defines the

mechanical specifications for the connectors and the function

of each circuit. Electrical standards suggested for use with

RS-449 are RS-422 (balanced) with a maximum line length of

4000 feet and maximum frequency of 10 M baud# and RS-423 (unbalanced) with a maximum line length of 4000 ft. and a maximum frequency of 100K baud.

-68-
ASCII

American Standard Code for Information Interchange/ a common

coding scheme for alphanumeric characters and terminal control interfacing.

PROTOCOL

The procedural rules for

between devices in computer

controlling

systems.

data communications

ERROR CONTROL PROCEDURE

A method of detecting and recovering from errors ocurring in

transmitted data. Typically employs methods such as parity<

Cyclic Redundancy checks and Frame Sequence Numbering to

detect errors/ plus a Request for Retransmiss i on to recover.

ECHO CHECK

A method of checking the accuracy of transmission of data in

which the received data are returned to the sending end for

comparison with the original data.

HDLC (HIGH-LEVEL DATA LINK CONTROL)

A bit oriented protocol for managing the flow

on a data communications link. Supports full

point-to-point or multi-point communications

nous data transmission techniques. Employs

dancy error check algorithm.

of information

or half duplex/

using sync hr oa cyclic redunSDLC (SYNCHRONOUS DATA LINK CONTROL)

A bit oriented protocol for managing the flow of information

on a data communications link. Supports full or half-duplex/

point to point/ multipoint/ and loop communications using

synchronous data transmission techniques. Employs a cyclic

redundancy error check algorithm.

-69-
B

I -SYNC (BINARY SYNCHRONOUS COMMUNICATIONS)

A character oriented protocol for managing the flow of information on a data communications link. Employs a defined set

of control characters and control character sequences to synchronously transmit binary coded data between stations in a half-duplex manner. Implements a BCC (Block Check Character)

error check algorithm.

ADCCP (ADVANCED DATA COMMUNICATIONS CONTROL PROCEDURE)

The proposed American National Standard for a bit oriented

synchronous data communications protocol. Supports full or

half duplex* point-to-point or multipoint communication. Employs a cyclic redundancy error check algorithm.

POLLING

A technique by which each of the terminals sharing a communications line is periodically sampled or interrogated to

determine whether it requires servicing.

BUS

One or more conductors used for transmitting signals or

power.

An information coding scheme by which different signals can

be coded and identified when sharing a common data channel.

BYTE

A unit of computer stored information usually 8 bits in

length.

-70-
14. ECONOMIC ANALYSIS

CYCLE TIME

The period of time from starting one machine operation to

starting another (in a pattern of continuous repetition).

DUTY CYCLE

The fraction of time during which a device or system will be

active* or at full power.

FLOOR-TO-FL0OR TIME

The total time elapsed for picking up a part* loading it into

a machine* carrying out operations and unloading it (back to

the floor* or bin or pallet* etc. ). Generally applies to

batch production.

-71 -

Appendix 1 - Alphabetic List of Terms

ACCESS TINE 58

ACCURACY 21

AC0US7 1C COUPLER 68

ACTIVE ACCOMMODATION 37

ACTIVE ILLUMINATION 50

ACTUA L OR 17

ADAPTABLE 10

ADAPTIVE CONTROL 13

ADCCP (ADVANCED DATA COMMUNICATIONS CONTROL) 70

ANALOG COMMUNICATIONS 67

ANALOG CONTROL 37

ANALOG-7 0 -DIGITAL CONVERTER (A/D) 56

ANALOGIC CONTROL 65

ANDROID 6

ANNUNCIATOR 64

ARCHITECTURE 10

ARM 16

ARTIFICIAL INTELLIGENCE 12

ASCII 69

ASSEMBI ER 58

ASSEMBLY l ANGUAGE 58

AUTOMATION 9

AZIMUIM 27

BACKGROUND PROCESSING 58

BACKLASH 27

-73-
Appendix 1 - Alphabetic List of Terms

BANDWIDTH 37

BANG-BANG CONTROL 37

BANG-BANG ROBOT 6

BANG-BANG-OFF CONTROL 33

BASE 17

BATCH MANUFACTURING 14

BAUD 63

B

I -SYNC (BINARY SYNCHRONOUS COMMUNICATIONS) 70

BILATERAL MANIPULATOR 9

BINARY PICTURE 50

BRANCHING 58

BREAKAWAY FORCE 33

BUS 70

BYTE 70

CABLE DRIVE 19

CALIBRATION 21

CARTESIAN COORDINATE SYSTEM 28

CATHODE -RAY TUBE (CRT) 64

CCD CAMERA 50

CELL 15

CENTER 1

5

CENTER OF GRAVITY 28

CENTRAL PROCESSING UNIT (CPU) 54

CHAIN DRIVE 19

-74-
App eno’ix 1 - Alphabetic List of Terms

C ID C AMENA 49

CLOSED -L OOP CONTROL 33

COMMUNICATIONS LINK 67

COMPENSA'I ION 38

COMPILER 53

COMPLEMENTARY METAL-OXIDE SEMICONDUCTOR <CMOS) 55

COMPLIANCE 28

COMPUTED PATH CONTROL 39

COMPUTER AIDED DESIGN (CAD) 14

COMPUTER AIDED MANUFACTURE (CAM) 14

COMPUTER CONTROL 39

COMPUTER NUMERICAL CONTROL (CNC) 14

CONDITIONAL STATEMENT 59

CONDUCTIVE RUBBER 52

CONTACT SENSOR 52

CONTINUOUS PATH CONTROL 39

CONTROL. 39

CONTROL HIERARCHY 10

CONTROLLER 39

CONTROLLER 54

COORDINATED AXIS CONTROL 39

CROSS-ASSEMBLER 59

CURSOR 64

CYCLE TIME 71

-75-
Appendix 1 - Alphabetic List of Terms

CYLINDRICAL COORDINATE ROBOT 7

CYLINDRICAL COORDINATE SYSTEM 29

DAMP I MG 40

DATA BASE 59

DEAD ZONE 29

DEFAULT VALUE 59

DEGREE OF FREEDOM 30

DERIVATIVE CONTROL 40

DIAGNOSTIC 59

DIGITAL COMMUNICATIONS 67

DIGITAL CONTROL 40

DIGITAL-! G-ANALOG CONVERTER <D/A) 56

DISTAL 30

DISTRIBUTED CONTROL 40

DISTRIBUTED NUMERICAL CONTROL (DNC) 15

DOUBLE PRECISION 59

DRIFT 21

DROOP 30

DUTY CYCLE 71

DYNAMIC ACCURACY 21

DYNAMIC RANGE 40

ECHO CHECK 69

EDIT 59

EDITOR 59

-76-
Appendix 1 - Alphabetic List of Terms

ELBOW 16

ELEVATION 30

ENCODER 52

END EFFECTOR 17

END POINT RIGIDITY 30

ENDPOINT CONTROL 40

ERROR CONTROL PROCEDURE 69

ERROR SIGNAL 40

EXECUTE 60

EXOSKELETON 65

EXTENSION 30

FACTORY 15

FAIL SAFE 21

FAIL SOFT 21

FEEDBACK 41

FILE 60

FIRMWARE 60

FIXED COORDINATE SYSTEM 30

FIXED POINT REPRESENTATION 60

FIXED STOP ROBOT 6

FLEXIBLE 11

FLEXIBLE MANUFACTURING SYSTEMS 12

FLOATING POINT REPRESENTATION 60

FLOOR -TO -FL OOR TIME 71

-77
Appendix 1 - Alphabetic List of Terms

FOREARM 16

FOREGROUND PROCESSING 60

FRAME BUFFER 50

FREQUENCY RESPONSE 41

FRICTION 42

FULL DUPLEX 68

GRACEFUL DEGRADATION 22

GREY SCALE PICTURE 50

GRIPPER 17

GROUP TECHNOLOGY 12

HALF DUPLEX 68

HAND 16

HDLC (HIGH-LEVEL DATA LINK CONTROL) 69

HEXADECIMAL 60

HIERARCHICAL CONTROL 40

HIERARCHY 10

HIGH-LEVEL LANGUAGE 61

HOST COMPUTER 55

HYDRAULIC MOTOR ' 18

HYSTERESIS 31

INDUCTION MOTOR 18

INDUSTRIAL ROBOT 5

INERTIA 42

INSTRUCTION SET 61

-78-
Ap p end i :< 1 - Alphabetic List of Terms

INTEGRAL CONTROL 42

INTEGRATED CIRCUIT (IC) 56

INTELLIGENT ROBOT 5

INTERFACES 11

INTERLOCK 61

INTERPRETER 61

INTERRUPT 61

JOB SHOP 14

JOINT 17

JOINT SPACE 31

JOYSTICK 65

LAG 42

LARGE SCALE INTEGRATION (LSI) 56

LEAD SCREW 19

LEARNING CONTROL 42

LEVEL Of- AUTOMATION 9

LIGHT EMITTING DIODE (LED) 64

LIMIT SWITCH 20

LIMITED -DEGREE-OF-FREEDOM ROBOT 6

LINEAR 31

LINEAR ARRAY CAMERA 49

LINEARITY 22

LIQUID CRYSTAL DISPLAY (LCD) 64

LOAD 22

-79
Appendix 1 - Alphabetic List of Terms

LOAD CAPACITY 22

LOAD DEFLECTION 31

LONG TERM REPEATABILITY 23

LOOP 61

MACHINE LANGUAGE 62

MACRO 62

MAGNETIC CORE MEMORY 55

MANIPULATION 11

MANIPULATOR 5

MASS PRODUCTION 14

MASTER -SLAVE MANIPULATOR 9

MATRIX ARRAY CAMERA 49

MAXIMUM SPEED 23

MEAN-T I ME -UETWEEN-FA I LURES (MTBF) 23

MEAN-T IMF -T O-REP AIR ( MTTR ) 23

MEMORY 55

MEMORY PROTECTION 62

MENU 62

METAL -OX IDE SEMICONDUCTOR <MOS> 55

MICROCOMPUTER 54

MICROPROCESSOR 54

MOBILE ROBOT 6

MODERN CONTROL 42

MODULAR 1

1

-80-
Ap pentiix 1 - Alphabetic List of Terms

MODULATOR -DEMODULATOR (MODEM) 67

MONITOR 62

MULTIPLEXER 56

MULTIPROCESSOR 54

MULTIPROCESSOR CONTROL 43

NET LOAD CAPACITY 23

NOISE 43

NUMERICAL CONTROL (NO 14

OBJECT PROGRAM 63

OBJECTIVE E UNCTION 43

OPEN LOOP CONTROL 43

OPEN LOOP ROBOT 7

OPERATING SYSTEM 62

OPERATIONAL AMPLIFIER 56

OPTIMAL CONTROL 43

OVERSHOOT 44

PAN 32

PARALLEL COMMUNICATIONS 67

PARALLFL PROCESSING 62

PARITY CHECK 62

PART CLASSIFICATION 12

PASSIVE ACCOMMODATION 44

PATTERN RECOGNITION 12

PAYLOAD 23

-81 -
Appendix 1 - Alphabetic List of Terms

PERFORMANCE 23

PERIPHERAL DEVICE 57

PICK AND PLACE ROBOT 5

PIEZO ELECTRIC 53

PITCH 32

PIXEL 51

PLAYBACK ACCURACY 24

POINT-TO-POINT CONTROL 44

POLAR COORDINATE SYSTEM 32

POLLING 70

POSITION CONTROL 44

POTENTIOMETER 52

POWER CYLINDER 18

PRECISION 24

PROCESS CONTROL 44

PROGRAMMABLE 10

PROGRAMMABLE CONTROLLER 54

PROGRAMMABLE MANIPULATOR 9

PROGRAMMABLE READ ONLY MEMORY (PROM) 55

PRONATION 32

PROPORTIONAL CONTROL 45

PROPORTIONAL- INTEGRAL-DERIVATIVE CONTROL (PID) 45

PROSTHETIC DEVICE 6

PROTOCOL 69

-82-
Appendix 1 - Alphabetic List of Terms

PROXIMAL 32

PROXIMITY SENSOR 53

RATE CONTROL 45

RATED LOAD CAPACITY 24

READ AND WRITE MEMORY (RAM) 55

READ ONLY MEMORY (ROM) 55

REAL TIME 63

REAL TIME CLOCK 63

RECORD -PLAYBACK ROBOT 6

RECTANGULAR COORDINATE SYSTEM 32

REDUNDANCY 10

RELATIVE COORDINATE SYSTEM 32

RELIABILITY 24

REMOTE CENTER COMPLIANCE (RCC) 32

REPEATABILITY 24

REPLICA MASTER 66

RESOLUTION 24

RESOLVED MOTION RATE CONTROL 45

RESOLVER 51

ROBOT 5

ROBOT PROGRAMMING LANGUAGE 66

ROLL 33

RS 232 63

RS 447 68

-S3-
Appendix 1 - Alphabetic List of Terms

RUN-LENGTH ENCODING 50

SATURATION 33

SCROLL 65

SDLC (SYNCHRONOUS DATA LINK CONTROL) 69

SEGMENTATION 50

SENSOR 5

1

SENSORY CONTROL 45

SENSORY HIERARCHY 10

SENSORY-CONTROLLED ROBOT 7

SERIAL COMMUNICATIONS 67

SERVO -CONTROLLED ROBOT 7

SERVOMECHANISM 18

SERVOVALVE 18

SETTLING TIME 46

SHAFT ENCODER 52

SHORT-TERM REPEATABILITY 24

SHOULDER 17

SILICON CONTROLLED RECTIFIER (SCR) 56

SLEW RATE 46

SMART SENSOR 51

SOLENOID IS

SOLID STATE CAMERA 49

SOURCE PROGRAM 63

SPACE ROBOT 5

-84-
Ap peruiix 1 - Alphabetic List of Terms

SPEED-PAYLOAD TRADEOFF 25

SPEED -REL I ABILITY TRADEOFF 25

SPHERICAL COORDINATE ROBOT S

SPHERICAL COORDINATE SYSTEM 33

SPRINGBACK 25

STATIC DEFLECTION 34

STATIC ERROR 25

STATIC FRICTION 46

STEADINESS 26

STEADY 31 AT E 46

STEPPING MOTOR 19

ST I CT I ON 47

STIFFNESS 34

STOP 19

STORAGE TUBE 65

STRAIN GAGE 52

STRAIN GAGE ROSETTE 53

STRENGTH 26

STRUCTURED LIGHT 50

SUPERVISORY CONTROL 47

SUPINATION 34

SWITCH CONTROL 66

SYMBOLIC CONTROL 66

SYNCHRO 52

-85-
Appendix 1 - Alphabetic List of Terms

TACHOMETER 52

TACTILE SENSOR 51

TAPE DRIVE 19

TEACH 66

TEACHING INTERFACE 66

TELEOPERATOR 9

TEMPLATE MATCHING 50

THERMOCHRGMIC DISPLAY 64

THRESHOLDING 51

TILT 34

TIME CONSTANT 47

TRACKING 47

TRANSDUCER 18

TRANSIENT 47

TRANSLATION 34

TWIST 35

UNDERSHOOT 43

UP PER ARM 16

VIDECON 49

VISCOUS FRICTION 48

WINDUP 34

WORK STATION 15

WORKING ENVELOPE 34

WORKING RANGE 35

-86-
Ap p end i :< 1 Alphabetic List of Terms

WORKING SPACE OR VOLUME 35

WORLD COORDINATES 35

WRIST 16

YAW 36

87-

U.S. DEPT. OF COMM. 1. PUBLICATION OR 2. Performing Organ. Report No. 3. Publication Date BIBLIOGRAPHIC DATA

SHEET (See instructions)

REPORT NO.

NBSIR 81-2340 October 1981

4. TITLE AND SUBTITLE

A Glossary of Terms for Robotics

5 . author(S) Bradford M. Smith, Thomas 3. Sheridan, James S. Albus,

Anthony J. Barbera, Gordon J. VanderBrug

6. PERFORMING ORGANIZATION (If joint or other than N BS, see instructions)

NATIONAL BUREAU OF STANDARDS

DEPARTMENT OF COMMERCE

WASHINGTON, D.C. 20234

7. Contract/Grant No. MIPR

SY 1455-78-00003

8. Type of Report & Period Covered

Interim Technical Report

Jan. 1979 - March 1980

9. SPONSORING ORGANIZATION NAME AND COMPLETE ADDRESS (Street. City. State. ZIP)

Air Force Materials Laboratory (AFSC)

Manufacturing Technology Division

Wright-Patterson Air Force Base, Ohio 45433

10.

SUPPLEMENTARY NOTES

Document describes a computer program; SF-185, FIPS Software Summary, is attached.

11.

ABSTRACT (A 200-word or less factual summary of most significant information. If document includes a significant

bibliography or literature survey, mention it here)

The use of emerging robotics technology along with that of numerical control of machining

processes offers enormous promise for improving productivity in discrete part batch manufacturing operations. This glossary of terms has been assembled in order that users, vendors,

researchers, students, teachers, and others involved with the rapidly developing field of

robotics may communicate in terms which are shared and understood in common. There is no claim that the definitions provided are in any sense standards accepted by any official body.

This document does in fact represent only an initial draft, and it is expected and encouraged

that informed reviewers will comment, revise, add or delete terms to make this glossary a

useful reference tool.

12.

KEY WORDS (Six to twelve entries; alphabetical order; capitalize only proper names; and separate key words by semicolon s) Automation; computer aided manufacturing; glossary; materials handling; robotics; robots.

13. AVAILABILITY

[y | Unlimited

j

j For Official Distribution. Do Not Release to NTIS

! | Order From Superintendent of Documents, U.S. Government Printing Office, Washington, D.C.

20402.

| y | Order From National Technical Information Service (NTIS), Springfield, VA. 22161

14. NO. OF

PRINTED PAGES

88

15. Price

$9.50

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