Robotics lexicon

robot station/cell: robot plus its work environment
reference frame: helps you place objects in the 3D space with respect to the robot or other objects; RGB arrows → XYZ axis
coordinates: 6 parameters, XYZ and orientation (yaw, pitch and roll)
TCP (Tool Center Point): you want to move the tool (or end-effector) in a desired position with a desired orientation (in a word in a desired pose)
tool reference frame: reference frame centered in the TCP; makes it easier to define the desired pose
nested reference frames: the TCP reference frame is defined with respect to the flange reference frame which is defined with respect to the robot base reference frame which is defined with respect to the station reference frame
inverse kinematic: calculate how to move (or jog) the robot axes in order to reach a target
off-line programming: simulating and programming the robot on a PC instead than in the work environment
end-effector: a tool attached at the and of the robot to perform a specific task (gripper, welder, etc.)
robot flange: where you attach the tool to the robot
payload: maximum weight
reach: maximum distance
accuracy: how closely a robot can reach a commanded position
repeatability: how well the robot will return to a programmed position
waypoint: TCP target point which is part of a path
auto-learning: teaching targets after manually moving the robot to the desired pose
teach pendant: handeld device used to control the robot
cobot: collaborative robot that can be used safely side by side with people
delta robot: fast, low inertia, 4DOF robot
SCARA robot: accurate, simple and fast 4 DOF robot
path: trajectory of the TCP, it can be straight (when needed) or curved
axis singularity: a configuration that should be avoided because the robot could be blocked in certain directions and joint velocities could be very high
collision: unintended contact with an object
controller: electronic device powering the robot and interfacing it with other devices
DOF: degrees of freedom, number of axes of a robot or number of independent motions
target: coordinates of a point to be reached by the end-effector
roll, pitch, yaw: rotation around x, y, z axes