The Rise of the Robots In the U.S. by Michael Erbschloe - HTML preview

Glossary for Robotics and Robotic Systems

Actuator

A power mechanism used to effect motion of the robot; a device that converts electrical, hydraulic, or pneumatic energy into robot motion.

Application Program

The set of instructions that defines the specific intended tasks of robots and robot systems. This program may be originated and modified by the robot user.

Attended Continuous Operation

The time when robots are performing (production) tasks at a speed no greater than slow speed through attended program execution.

Attended Program Verification

The time when a person within the restricted envelope (space) verifies the robot's programmed tasks at programmed speed.

Automatic guided-vehicle systems

Aare advanced material-handling or conveying systems that involve a driverless vehicle which follows a guide-path.

Automatic Mode

The robot state in which automatic operation can be initiated.

Automatic conveyor and shuttle systems

Are comprised of various types of conveying systems linked together with various shuttle mechanisms for the prime purpose of conveying materials or parts to prepositioned and predetermined locations automatically.

Automatic Operation

The time during which robots are performing programmed tasks through unattended program execution.

Automatic storage and retrieval systems

Are storage racks linked through automatically controlled conveyors and an automatic storage and retrieval machine or machines that ride on floor-mounted guide rails and power-driven wheels.

Awareness Barrier

Physical and/or visual means that warns a person of an approaching or present hazard.

Awareness Signal

A device that warns a person of an approaching or present hazard by means of audible sound or visible light.

Axis

The line about which a rotating body (such as a tool) turns.

Barrier

A physical means of separating persons from the restricted envelope (space).

Control Device

Any piece of control hardware providing a means for human intervention in the control of a robot or robot system, such as an emergency-stop button, a start button, or a selector switch.

Control Program

The inherent set of control instructions that defines the capabilities, actions and responses of the robot system. This program is usually not intended to be modified by the user.

Coordinated Straight Line Motion

Control wherein the axes of the robot arrive at their respective end points simultaneously, giving a smooth appearance to the motion. Control wherein the motions of the axes are such that the Tool Center Point (TCP) moves along a prespecified type of path (line, circle, etc.)

Device

Any piece of control hardware such as an emergency-stop button, selector switch, control pendant, relay, solenoid valve, sensor, etc.

Drive Power

The energy source or sources for the robot actuators.

Emergency Stop

The operation of a circuit using hardware-based components that overrides all other robot controls, removes drive power from the robot actuators, and causes all moving parts to stop.

Enabling Device

A manually operated device that permits motion when continuously activated. Releasing the device stops robot motion and motion of associated equipment that may present a hazard.

End-effector

An accessory device or tool specifically designed for attachment to the robot wrist or tool mounting plate to enable the robot to perform its intended task. (Examples may include gripper, spot-weld gun, arc-weld gun, spray- paint gun, or any other application tools.)

Energy Source

Any electrical, mechanical, hydraulic, pneumatic, chemical, thermal, or other source.

Envelope (Space), Maximum

The volume of space encompassing the maximum designed movements of all robot parts including the end-effector, workpiece, and attachments.

Restricted Envelope (Space)

That portion of the maximum envelope to which a robot is restricted by limiting devices. The maximum distance that the robot can travel after the limiting device is actuated defines the boundaries of the restricted envelope (space) of the robot.

Operating Envelope (Space)

That portion of the restricted envelope (space) that is actually used by the robot while performing its programmed motions.

Hazard

A situation that is likely to cause physical harm.

Hazardous Motion

Any motion that is likely to cause personal physical harm.

Industrial Equipment

Physical apparatus used to perform industrial tasks, such as welders, conveyors, machine tools, fork trucks, turn tables, positioning tables, or robots.

Industrial Robot

A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.

Industrial Robot System

A system that includes industrial robots, the end-effectors, and the devices and sensors required for the robots to be taught or programmed, or for the robots to perform the intended automatic operations, as well as the communication interfaces required for interlocking, sequencing, or monitoring the robots.

Interlock

An arrangement whereby the operation of one control or mechanism brings about or prevents the operation of another.

Joint Motion

A method for coordinating the movement of the joints such that all joints arrive at the desired location simultaneously.

Limiting Device

A device that restricts the maximum envelope (space) by stopping or causing to stop all robot motion and is independent of the control program and the application programs.

Maintenance

The act of keeping the robots and robot systems in their proper operating condition.

Mobile Robot

A self-propelled and self-contained robot that is capable of moving over a mechanically unconstrained course.

Muting

The deactivation of a presence-sensing safeguarding device during a portion of the robot cycle.

Numerically controlled machine tools

 Are operated by a series of coded instructions comprised of numbers, letters of the alphabet, and other symbols. These are translated into pulses of electrical current or other output signals that activate motors and other devices to run the machine.

Operator

The person designated to start, monitor, and stop the intended productive operation of a robot or robot system. An operator may also interface with a robot for productive purposes.

Pendant

Any portable control device, including teach pendants, that permits an operator to control the robot from within the restricted envelope (space) of the robot.

Presence-Sensing Safeguarding Device

A device designed, constructed, and installed to create a sensing field or area to detect an intrusion into the field or area by personnel, robots, or other objects.

Program

1. (noun) A sequence of instructions to be executed by the computer or robot controller to control a robot or robot system.
2. (verb) to furnish (a computer) with a code of instruction.
3. (verb) to teach a robot system a specific set of movements and instructions to accomplish a task.

Prosthetic robots

are programmable manipulators or devices for missing human limbs.

Rebuild

To restore the robot to the original specifications of the manufacturer, to the extent possible.

Remanufacture

To upgrade or modify robots to the revised specifications of the manufacturer and applicable industry standards.

Repair

To restore robots and robot systems to operating condition after damage, malfunction, or wear.

Robot Manufacturer

A company or business involved in either the design, fabrication, or sale of robots, robot tooling, robotic peripheral equipment or controls, and associated process ancillary equipment.

Robot System Integrator

A company or business who either directly or through a subcontractor will assume responsibility for the design, fabrication, and integration of the required robot, robotic peripheral equipment, and other required ancillary equipment for a particular robotic application.

Safeguard

A barrier guard, device, or safety procedure designed for the protection of personnel.

Safety Procedure

An instruction designed for the protection of personnel.

Sensor

A device that responds to physical stimuli (such as heat, light, sound, pressure, magnetism, motion, etc.) and transmits the resulting signal or data for providing a measurement, operating a control, or both.

Service

To adjust, repair, maintain, and make fit for use.

Single Point of Control

The ability to operate the robot such that initiation or robot motion from one source of control is possible only from that source and cannot be overridden from another source.

Slow Speed Control

A mode of robot motion control where the velocity of the robot is limited to allow persons sufficient time either to withdraw the hazardous motion or stop the robot.

Start-up

Routine application of drive power to the robot or robot system.

Start-up, Initial

Initial drive power application to the robot or robot system after one of the following events:

• Manufacture or modification;
• Installation or reinstallation;
• Programming or program editing; and
• Maintenance or repair.

Teach

The generation and storage of a series of positional data points effected by moving the robot arm through a path of intended motions.

Teach Mode

The control state that allows the generation and storage of positional data points effected by moving the robot arm through a path of intended motions.

Teacher

A person who provides the robot with a specific set of instructions to perform a task.

Teleoperators

Are robotic devices comprised of sensors and actuators for mobility and/or manipulation and are controlled remotely by a human operator.

Tool Center Point (TCP)

The origin of the tool coordinate system.

Undersea and space robots

Include in addition to the manipulator or tool that actually accomplishes a task, the vehicles or platforms that transport the tools to the site. These vehicles are called remotely operated vehicles (ROV's) or autonomous undersea vehicles (AUV's); the feature that distinguishes them is, respectively, the presence or absence of an electronics tether that connects the vehicle and surface control station.

User

A company, business, or person who uses robots and who contracts, hires, or is responsible for the personnel associated with robot operation.