BS ISO 8373:2021 pdf free download – Robotics一Vocabulary.
5.9
mechanical interface coordinate system
coordinate system referenced to the mechanical interface (4.11)
5.10
joint coordinate system
coordinate system referenced to the joint axes (5.3), the joint coordinates of which are defined relative to the preceding joint coordinates or to some other coordinate system
5.11
tool coordinate system
TCS
coordinate system referenced to the tool or to the end-effector (4.12) attached to the mechanical interftice (4.11)
5.12
mobile platform coordinate system
coordinate system referenced to one of the components of a mobile platform (4.16)
Note I to entry: A typical mobile platform coordinate system for the mobile robot (4.11) takes positive X as the forward direction and positive Z as the upward direction, and positive Y is decided by right-hand rule.
5.13
maximum space
space which can be swept by the moving parts of the robot (3.1), plus the space which can be swept by the end-effector (4.12) and the workpiece
Note ito entry: Maximum space of the robot system can include the space which can be swept by the end-effector (4.12) and the workpiece.
Note 2 to entry: For mobile platforms (4.16), this volume can be regarded as the full volume that can theoretically he reached by travelling.
5.14
restricted space
portion of the maximum space (5.13) restricted by limiting devices (6.21) that establish limits which will not be exceeded
Note ito entry: For mobile platforms (4.16), this volume can be limited by special markers on floors and walls, or by software limits defined in the internal map.
5.15
operational space operating space
portion of the restricted space (5.14) that is used while performing all motions commanded by the task program (6.1)
5.16
working space
space which can be swept by the wrist reference point (5.19)
Note ito entry: The working space is smaller than the space which can be swept by all the moving parts of the manipulator (4.14).
5.17
safeguarded space
space where safeguards are active
Note 1 to entry: This is sometimes described as the space within the perimeter safeguarding (6.23). Note 2 to entry: The safeguarded space can change dynamically.
pose-to-pose control PTP control
control procedure whereby the task programmer (3.12) can only impose that the robot (3.1) pass by the command poses (5.5.1) without fixing the path (5.5.4) to be followed between the poses (5.5)
6.7
continuous path control CP control
control procedure whereby the programmer can impose on the robot (3.1) the path (5.5.4) to be followed between command poses (5.5.1)
6.8
trajectory control
continuous path control (6.7) with a programmed velocity profile
6.9
leader-follower control
control method where the motion of a primary device (leader) is reproduced on secondary devices (followers)
Note 1 to entry: Leader-follower control is typically used for teleoperation (6.17).
6.10
sensory control
control scheme whereby the robot (3.1) motion or force is adjusted in accordance with outputs of exteroceptive sensors (8.11)
6.11
trajectory planning
process by which the robot (3.1) control program (6.2) determines how to move the joints (4.8) of the mechanical structure between the command poses (5.5.1), according to the type of control procedure chosen
6.12
compliance
flexible behaviour of a robot (3.1) or any associated tool in response to external forces exerted on it
Note 1 to entry: When the behaviour is independent of sensory feedback, it is passive compliance; if not, it is active compliance.
6.13
operating mode
operational mode
characterization of the way and the extent to which the operator (3.11) intervenes in the control equipment
Note ito entry: In the context of this document, mode refers to the control state of the robot (3.1), e.g. automatic, manual, other.
6.13.1
manual mode
control state that allows for direct control by a human
Note 1 to entry: Sometimes referred to as teach mode where program points and robot attributes are set.