Here i m going to explain different types words and there definitions which are used in Robotics.
Accuracy= The degree to which the actual and commanded positions (of, e.g., a robot manipulator)
correspond for computed as opposed to taught positions.
Adaptive Control=A large class of control algorithms where the controller has its own internal
dynamics and so is capable of learning the unknown dynamics of the robot arm, thus improving
performance over time.
AML=A Manufacturing Language — a robot programming language.
APT= Automatic Programming of Tools — a robot programming language.
Cell Decomposition.=An approach to path planning where the obstacles are modeled as polygons and
the free space is decomposed into cells such that a straight line path can be generated between any two
points in a cell.
Compliance=The inverse of “stiffness” — useful in end effectors tooling whenever a robot must
interact with rigid constraints in the environment.
Feedback Linearization =A modern approach to robot arm control that formalizes computed-torque
control mathematically, allowing formal proofs of stability and design of advanced algorithms using
Lyapunov and other techniques.
Flexible-Link Robot=Lightweight mechanical structures where vibration and flexibility of the links
must be taken into account in controller design. They possess favorable features including lower manufacturing costs, higher motion speeds, better performance, and easier transportation and setup.
Force Control=A class of algorithms allowing control over the force applied by a robot arm, often
in a direction normal to a prescribed surface while the position trajectory is controlled in the plane of
the surface.
Fuzzy Logic Control=A multilevel logic controller, which is different from the conventional dual
(two-level) logic in which only two values (true and false) may be assigned to each state variable. Fuzzy
logic controllers have advantages in being robust to disturbances and not requiring an explicit mathematical model for the design process. They consist of three parts: the fuzzifier, the rulebase, and the
defuzzifier.
Grasp Isotropy= A measure of how uniformly forces and motions can be controlled in different
directions.
IGES. International Graphics Exchange Specification =a data exchange standard.
Inverse Kinematics. Identification of possible configurations given task coordinates.
I/O Device. Input/output device =a port through which external information is connected to a
computer. I/O devices may be A/D, which converts analog signals to digital, D/A, which converts digital
signals to analog, or binary, which passes digital signals.
Joint Variables= Scalars specifying position of each joint — one for each degree of freedom.
Kitting. The process of taking parts from bulk and placing them on a kit tray, which is an organized
group of all parts required to assemble a single product or subassembly.
Learning Control=A class of control algorithms for repetitive motion applications (e.g., spray
painting) where information on the errors during one run is used to improve performance during the
next run.
Linearity in the Parameters= A property of the robot arm dynamics, important in controller design,
where the nonlinearities are linear in the unknown parameters such as unknown masses and friction
coefficients.
Mobile Robot= A special type of manipulator which is not bolted to the floor but can move. Based
on different driving mechanisms, mobile robots can be further classified as wheeled mobile robots,
legged mobile robots, treaded mobile robots, underwater mobile robots, and aerial vehicles.
Path Planning=The process of finding a continuous path from an initial robot configuration to a goal
configuration without collision
Pixel=Picture element — one point of an image matrix in image processing terminology.
Robot Axis=A direction of travel or rotation usually associated with a degree of freedom of motion.
Robot Joint=A mechanism which connects the structural links of a robot manipulator together while
allowing relative motion.
Robot Link=The rigid structural elements of a robot manipulator that are joined to form and arm.
Robust Control=A large class of control algorithms where the controller is generally nondynamic,
but contains information on the maximum possible modeling uncertainties so that the tracking errors
are kept small, often at the expense of large control effort. The tracking performance does not improve
over time so the errors never go to zero.
Accuracy= The degree to which the actual and commanded positions (of, e.g., a robot manipulator)
correspond for computed as opposed to taught positions.
Adaptive Control=A large class of control algorithms where the controller has its own internal
dynamics and so is capable of learning the unknown dynamics of the robot arm, thus improving
performance over time.
AML=A Manufacturing Language — a robot programming language.
APT= Automatic Programming of Tools — a robot programming language.
Cell Decomposition.=An approach to path planning where the obstacles are modeled as polygons and
the free space is decomposed into cells such that a straight line path can be generated between any two
points in a cell.
Compliance=The inverse of “stiffness” — useful in end effectors tooling whenever a robot must
interact with rigid constraints in the environment.
Feedback Linearization =A modern approach to robot arm control that formalizes computed-torque
control mathematically, allowing formal proofs of stability and design of advanced algorithms using
Lyapunov and other techniques.
Flexible-Link Robot=Lightweight mechanical structures where vibration and flexibility of the links
must be taken into account in controller design. They possess favorable features including lower manufacturing costs, higher motion speeds, better performance, and easier transportation and setup.
Force Control=A class of algorithms allowing control over the force applied by a robot arm, often
in a direction normal to a prescribed surface while the position trajectory is controlled in the plane of
the surface.
Fuzzy Logic Control=A multilevel logic controller, which is different from the conventional dual
(two-level) logic in which only two values (true and false) may be assigned to each state variable. Fuzzy
logic controllers have advantages in being robust to disturbances and not requiring an explicit mathematical model for the design process. They consist of three parts: the fuzzifier, the rulebase, and the
defuzzifier.
Grasp Isotropy= A measure of how uniformly forces and motions can be controlled in different
directions.
IGES. International Graphics Exchange Specification =a data exchange standard.
Inverse Kinematics. Identification of possible configurations given task coordinates.
I/O Device. Input/output device =a port through which external information is connected to a
computer. I/O devices may be A/D, which converts analog signals to digital, D/A, which converts digital
signals to analog, or binary, which passes digital signals.
Joint Variables= Scalars specifying position of each joint — one for each degree of freedom.
Kitting. The process of taking parts from bulk and placing them on a kit tray, which is an organized
group of all parts required to assemble a single product or subassembly.
Learning Control=A class of control algorithms for repetitive motion applications (e.g., spray
painting) where information on the errors during one run is used to improve performance during the
next run.
Linearity in the Parameters= A property of the robot arm dynamics, important in controller design,
where the nonlinearities are linear in the unknown parameters such as unknown masses and friction
coefficients.
Mobile Robot= A special type of manipulator which is not bolted to the floor but can move. Based
on different driving mechanisms, mobile robots can be further classified as wheeled mobile robots,
legged mobile robots, treaded mobile robots, underwater mobile robots, and aerial vehicles.
Path Planning=The process of finding a continuous path from an initial robot configuration to a goal
configuration without collision
Pixel=Picture element — one point of an image matrix in image processing terminology.
Robot Axis=A direction of travel or rotation usually associated with a degree of freedom of motion.
Robot Joint=A mechanism which connects the structural links of a robot manipulator together while
allowing relative motion.
Robot Link=The rigid structural elements of a robot manipulator that are joined to form and arm.
Robust Control=A large class of control algorithms where the controller is generally nondynamic,
but contains information on the maximum possible modeling uncertainties so that the tracking errors
are kept small, often at the expense of large control effort. The tracking performance does not improve
over time so the errors never go to zero.
No comments:
Post a Comment