Questa è una vecchia versione del documento!

Robotics lexicon

station, cell
reference frame: helps you place objects in the 3d space with respect to the robot or other objects; RGB → XYZ axis
coordinates: 6 parameters, XYZ and orientation
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: easier way to reach the desired pose
nested reference frames: TCP reference frame is defined with respect to the flange reference frame wich is defined with respect to the robot base reference frame wich is defined with respect to the station reference frame
inverse kinematic: calculate how to move (or jog) the robot axis in order to reach a target
offline programming
end effector, tool (gripper, vacuum)
robot flange: where you attach the tool to the robot
payload
reach
waypoint
auto-learning
teach pendant
cobot
delta (fast, low inertia, 4DOF)
palletizing (4DOF)
scara (4 DOF, better precision, fast)
path
axis singularity, A robot singularity is a configuration in which the robot end-effector becomes blocked in certain directions. .. At a singularity, a robotic arm loses one or more degrees of freedom. .. The problem with singularities is not only the impossibility of crossing them, but also the high joint velocities resulting from passing close to them.
collision
controller
DOF
target
roll, pitch, yaw