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Robot Dictionary

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The robot dictionary is a collection of terms, acronyms and definitions. It is meant to help you understand all the different terms related to robotics.

This dictionary is a work in progress and will be expanded upon over time. You are all free to suggest new terms not found in the dictionary. Furthermore, if you find any mistakes feel free to let us know. Click here to let give us feedback.

ABB		The headquarters of the company originally known as Asea Brown Boveri is located in Zrich, Switzerland. The company focuses on automation and power while building industrial robots.
Acceleration-Level		The measure of variation of joint speeds over time. Double and single differentiation of this level gives the overall change in position and change in position overtime, respectively. Refer to position-level and velocity-level.
Accuracy		A measure of a robot's capability to repeat the same task multiple times without changing the closeness to a certain point.
Actuator		A piece of equipment that allows a robot to move by conversion of different energy types such as electrical or mechanical processes using liquid or air. (Common Misspellings: actuater, actuattor)
Algorithm		A list of steps used to find a solution to a given problem.
Aluminum		A soft, lightweight, silver-white metallic chemical element that is the third most common element. Aluminum is denoted by the symbol Al and has an atomic number of 13, an atomic weight of 26.9815, a melting point of 650C, and a boiling point of 2450C. It is highly ductile, malleable, conductive, and resistant to corrosion and wear, and is widely used in alloys for beverage cans, household utensils, aircraft and automobile parts, electrical equipment, and many other products.
Analytical Methods		A mathematical way to solve problems without repetitive attempts to approximate an answer.
Application Program		A sequence of steps that specifies what jobs the robots will perform. The program can be personaliz
Arc Welding		A type of welding that uses direct or alternating current to supply power from an electrode to the metal creating an electrical arc. The place on the metal t
Arc Welding Robot		Refers to an automated welding process performed by an industrial robot to create an electric arc between an electrode and a base material to melt the metals at the welding point.
Assembly Robots		A mechanical device that uses automation to add interchangeable parts to a product in a sequential manner to create a finished product.
Attended Continuous Operation		Robots are observed while carrying out assigned applications at a minimum speed.
Attended Program Verification		A worker in the restricted area checks the robots assigned jobs at the specified speed to
Automatic Mode		The state when the robot begins self-moving operations.
Automatic Operation		The robot executes the programmed jobs without worker involv
Automation		A system uses programmable equipment for production. The equipment is capable of bein
Automation Solutions		Machinery and programs used for automatic operation.
Autonomous		Operating without pre-programmed behaviors and without supervision from humans.
Awareness Barrier		A restriction that physically or visually informs a human of a danger or hazard being near.
Awareness Signal		A sound or light that alerts one of danger or hazard being near.
Axis		The point that something such as a tool rotates around. The number of axes a robot has
Axis acceleration		The maximum acceleration that a particular axis can attain while the robot is loaded with the suggested payload.
Backplane		A circuit board containing sockets into which other circuit boards can be plugged in. In the context of PCs, the term backplane re
Ball Screw		A device for transforming rotary motion to linear, or vice versa, incorporating a threaded rod portion and a nut consisting of a cage holding many ball bearings.
Barrier		A physical structure used to separate people from a restricted area.
Base		Part of a structure that supports the manipulator arm.
Biomimetic		Imitation of biological systems occurring in nature.
Blanking		The operation of punching, cutting, or shearing a piece out of stock to a predetermined shape by die cutting the outside shape of a part. Blanking cuts a large sheet of stock into small pieces suitable for the next stamping operation, such as drawing and forming. It is often combined with piercing.
Business Process Automation		(BPA) Efficiency of the process is improved by introducing enterprise software throughout the entire process while reducing worker involvement.
Cam		The centerline of rotation of this part is not at the geometric center making other parts pushing on it to move in and out.
Cartesian Robot		The axes of the three Prismatic or linear motion joints of the robot are in the same direction of a Cartesian coordinator.
Chassis		The parts making up a machine not including the body or casing. In the case of an automobile this would include parts such as the frame and engine but not the body surrounding these parts.
Closed-form		Iteration or repeated approximation to find a solution for this problem formulation.
Collision Sensor		A sensor that detects and informs the controller to stop the robot prior to or during a crash. Other terms for this device include crash protection device, robot safety joint, and robotic clutch among others.
Compensator		A remote device that involves multiple shear pads to help peg-in-h*** operations. The shear pads are elastomers, also known as polymers and the device uses three to twelve of these shear pads.
Computer-Aided Design		(CAD) Computer software is used to develop and/or alter all aspects of design such as the end product, the system, machinery used etc.
Computer-Aided Manufacturing		(CAM) Computer software is used to design and/or alter the manufacturing process.
Conservative Motion		A path where both the end-effector and the joints repeatedly follow their same respective trajectories.
Control Device		An instrument that allows a person to have control over a robot or automated system for times such as startup or an emergency.
Control Program		The control information built into the robot or automated system that allows for possible behaviors. The control information is not expected to be altered.
Coordinated Straight Line Motion		The Tool Center Point follows a specific path allowing the axes of the robot to come to their specified end points at the same time. This allows for a smooth operation of movement.
Curving		The process of adding a constant radius to a flat piece of metal material.
Cut To Length		Refers to a cut off shear that is placed in production lines which shears the part to a specific predetermined length.
Cylindrical Robot		The axes of the robot correspond to a cylindrical coordinate system.
Degrees of Freedom		The number of independent variables in the system. Each joint in a serial robot represents a degree of freedom.
Device		Hardware used to control various parts of a system.
Dexterity		A measure of the robot's ability to follow complex paths.
Diffusion welding		A welding process using high temperatures and pressures to form the facing surfaces by solid-state bonding. There is no physical movement, visible deformation of the parts or melting.
Digital Computer		The system of binary numbers is most commonly used as digits for calculations or operations by the computer.
Direct Numerical Control		(DNC) Equipment that is controlled numerically receives data inputs from a computer.
Direct Search		A method of solving problems numerically using sets of trial solutions to guide a search. The search is direct because it does not explicitly evaluate derivatives.
Drive Power		Actuators convert this source of energy into usable energy for the robot's movement.
Dynamic Model		The study of the forces that cause motion.
Dynamics		The study of the forces that cause motion.
Embossing		A metal forming process for producing raised or sunken designs or relief in sheet material by means of male and female dies, theoretically with no change in metal thickness or by passing sheet or a strip of metal between rolls of the desired pattern.
Emergency Stop		This control immediately stops motion and tasks of the system by cutting off the drive power.
Enabling Device		The user activates the device allowing for the robot and machinery to move. When deactivated motion is stopped preventing harmful situations.
End-Effector		A device or tool specifically designed to attach to the robot wrist to enable the robot to perform its intended task. The robot uses the end-effector to accomplish a task. The end-effector may be holding a tool, or the end-effector itself may be a tool. The end-effector is loosely comparable to a human's hand.
End-effector space		The area of the robot's end-effector movement with respect to its base. (Common Misspellings: end-effecter space, end-affector space, end-affecter space)
End-Of-Arm Tooling		(EOAT) Application tools that are located at the end of the robot arm. The quality of the EOAT greatly affects the performance of the system.
Energy Source		Energy is provided by conversion of various types of sources such as chemical, thermal, mechanical etc.
Equality constraint		The end-effector's change of position, movement and location must be equal to a certain number.
Equality Constraint		A restriction that requires the displacement or motion of the robot to equal a specified value. Equality constraints specify the position and orientation of the robot's end-effector.
Error Function		The error function assigns a single value that represents the difference between the desired and actual values of one or several dependent variables.
Exponential Assembly		Nanorobots replicate themselves repeatedly.
Factory Automation		The process of integrating industrial machinery with the help of control software. This integration increases efficiency, productivity and quality while decreasing costs.
Fanuc		With the headquarters located in Rochester Hills, Michigan, this company provides the most automated systems such as robots to industries in North and South America. (Common Misspellings: funac, famic, faunc, fawnik, fanuf, fanuk robotics)
Feedback		A signal from the robot equipment about conditions as they actually exist, rather than as the computer has directed them to exist.
Fixed Automation		(Hard Automation) Automated, electronically controlled system for simple, straight or circular. These systems are mainly used for large production runs where little flexibility is required.
Fixed Automation (Hard Automation)		An automated, electronically controlled welding system for simple, straight or circular welds. These systems are mainly used for large production runs where little flexibility is required.
Flexibility		The diverse jobs that a robot is capable of executing.
Flexible Automation		The ability for a robot and system to be reconfigured and change product design easily. Productivity is increased due to minimized setup times.
Fully Constrained Robot		A robot with as many independent joints as there are equality constraints on the placement of the end-effector.
Genkotsu		Japanese for "fist", this describes a new line of Fanuc tricep robots.
Hard Tooling		Used to make high volume parts of one configuration of part design.
Hazard		A possible dangerous or harmful situation.
Hazardous Motion		A possible dangerous or harmful motion.
Human-Computer Interaction		(HCI) Analysis of the relationship of computers and humans.
Hybrid		The robot has a combination of pick and place and servo controlled parts.
Hyundai Robots		High-tech, fully integrated system robot manipulators combined with RWT's Universal Robot Controller and RobotScript software.
Industrial Automation		Also referred to as automation, uses numerical control during the use of control systems (e.g. computers) to control industrial machinery and processes, replacing human operators. It is a step beyond mechanization, where human operators are provided with machinery to assist them with the physical requirements of work. The most visible part of modern automation can be said to be industrial robotics. Some advantages are repeatability, tighter quality control, waste reduction, integration with business systems, increased productivity and reduction of labor. (Common Misspellings include: industrail automation, industry automation, industryial automation, automaton)
Industrial Equipment		Machinery capable of executing industrial operations.
Industrial Robot		A manipulator that is designed to perform various programmed tasks during manufacturing. Industrial robots are automated by a program that controls its duties that tend to be dangerous or difficult for humans. (Common Misspellings include: indusrtial robot, industrail robot, industrail robots, industry robot, industryial robot)
Industrial Robot System		A system of robots, machinery, and devices that are programmed to perform operations while incorporating an interface.
Industrial Robotics		The idea of incorporation of a robot system for production.
Inequality Constraint		A restriction that limits the value of a dependent or independent variable. Inequality constraints limit the robot's joint travels (joint limits), joint speeds (speed limits), and torques, (torque limits).
Integrator		A company that combines and coordinates separate parts or elements into a unified whole using mechanical means. (Common misspellings include: Integrater, Integreater, integreator, integratour)
Interface		The separation between robots and the equipment not nearby. The sensors that are required for communication between the devices use signals relaying input and output data.
Interlock		The control of a device starting or stopping is dependent upon the action of another device.
Intermittent Weld		A series of welds at intervals along a joint.
Internal Sensor		An apparatus within the manipulator arm that sends information on motion to a control unit.
Inverse Kinematics		A procedure which determines where the end-effector needs to be placed to reach a particular point in space. The procedures use mathematical algorithms along with sensors to determine the desired location of the point in space.
Iteration		Repeatedly applying a series of operations to progressively advance towards a solution.
Jacobian		The matrix of first-order partial derivatives. For robots, the Jacobian relates the end- effector velocity the joint speeds.
Joint Motion		A way to regulate the joint's movement so that all reach the specified position at the same time.
Joint Space		A coordinate system used to describe the state of the robot in terms of its joint states. Inverse kinematics may also be thought of as a mapping from end-effector space to joint space.
Jointed Arm Robot		The arm of the robot has two junctions allowing for rotation and enhanced movement much like a person's shoulder and elbow on their arm.
Kawasaki Robots		Producer of the original Industrial Robot in 1969 in Japan.
kinematic influence coefficients		These coefficients describe the total influence the N input joints have on the motion of the robot and allow a direct statement of the complex and coupled nonlinear differential equations controlling the response of the system.
Kinematics		Kinematics refers to the position, velocity and acceleration of an object or group of objects. When a group of objects are connected they are said to form a kinematic chain. The kinematic chain uses the concept of a family hierarchy to establish rules of motion.
LaGrange Multipliers		A mathematical technique for transforming equality constraints into performance criteria, thus expressing a constrained problem as an unconstrained problem.
Limiting Device		A separate apparatus that places a restriction on the maximum envelope. This restriction occurs by terminating motion of the robot.
Linearly Dependent		A correspondence between quantities or functions that can be described by simply adding, subtracting, or multiplying a scalar.
Maintenance		Ensuring that robots and manufacturing systems are working properly and repairing any problems observed.
Manipulator		In the robot welding field, a manipulator is a mechanical device, consisting of a number of axes used to manipulate the work piece to the optimal welding position.
Manual Programming		The user physically sets specific tasks and limits on the robot.
Manufacturing Robot		A mechanical device that uses automation to transform raw materials into finished goods for sale.
Maximum Envelope Space		The largest area that all parts of the robot cover with its various movements.
Mechanical		Use of machines and apparatuses.
Mechanization		Integration of machinery and equipment into manufacturing processes.
Metal Stamping		Stamping is a term used to refer to various press forming operations including coining, embossing, blanking, and pressing. Forming metals apply pressure to the surface of a metal, usually a strip or sheet. The operations most commonly associated with stamping are blanking, piercing, forming, and drawing. These operations are done with hard tooling.
MIG Welding		MIG stands for Metal Inert Gas Welding. This is often referred to as wire-feed welding. MIG welding is a commonly used in the high deposition rate welding process. During the welding process, wire is continuously fed from a spool. MIG welding is sometimes referred to as a semi-automatic welding process.
Mobile Robot		A type of robot with its own engine or power able to move without constraints on its path.
Moment		The measure of rotation about a reference object when a force is applied. When a reference point is used, the moment is the cross product of the amount of force and the perpendicular distance between the point and the line of force. When a reference line is used, the moment is the cross product of amount of force and the shortest distance between the line and the point where the force is applied. When a reference plane is used, the moment is the cross product of the amount of force and the perpendicular distance from the plane to the point where the force is applied.
Motion axis		The line defining the axis of motion either linear or rotary, of a segment of a manipulator.
Motoman		A manufacturer of multiple robots with the abilities to perform various tasks. (Common misspellings include: Motorman, Motormen, Motomen, Motormans, Motomans)
Muting		Turning off the presence-sensing safeguarding device during a part of robot operation.
Nanotechnology		(Molecular Manufacturing) The science of studying and inventing products on the small scale of the molecular level.
Normalize		Scaling a number of factors so that they will be of similar magnitudes.
Notching		A metalworking operation in which the punch removes material from the edge or corner of a strip or blank or part.
Numerical Methods		Iterative methods of solving problems on a computer. Numerical methods may have an analytical basis or they may involve heuristics. Optimization calculating the independent variables in a function so as to generate the best function value for a given set of conditions. Optimization usually involves maximizing or minimizing a function.
Off-Line Programming		A way to store procedure information for a robot on a computer to be used in the future.
On-Line Programming		The computer program controls the robot as the information and procedures are inputted into the computer.
Operating Envelope Space		The part of the restricted envelope taken up during the specified robots movements.
Operator		This person begins and ends processes the robot performs while observing to ensure proper procedures are occurring.
Optimization		Process of finding the best values for the independent variables within a function, which is most commonly the maximum or minimum value.
Palletizing		Used to move parts onto a pallet to be transported. (Common Misspellings: palletising)
Parallel Robot		The linear or rotation joints of the robot's arms match each other in position and direction.
Pendant		A movable mechanism allowing the user to guide the robot's operation in the restricted envelope.
Pendant (teach pendant)		A hand-held unit linked to the control system with which a robot can be programmed or moved.
Performance Criteria		Measures based on kinematic and dynamic models of the robot useful for evaluating the state of the robot.
Pick and Place Robot		A type of robot that moves parts from one place to another.
Plant Description		A kinematic and dynamic model of the robot.
Point-To-Point Motion		The user specifies points for the robot to follow along the path. The movement is point to point as opposed to a continuous motion.
Positional Assembly		Molecular scale production through the use of component automation.
Position-Level		Mathematical formulations working with the joint displacements. See acceleration-level and velocity-level.
Presence-Sensing Safeguarding Device		A mechanism used to sense and detect when an object enters a given area.
Press Braking		A metal forming process that uses an open-frame single-action press used to bend, blank, corrugate, curl, notch, perforate, pierce, or punch sheet metal or plate. This is an extremely common metal fabricating process.
Productivity		A measure of the amount of manufactured product compared to the amount of input material.
Program		Noun: A set of tasks to be performed by a robot controller or computer in order to control a system. Verb: To code a computer with a set of procedures or to provide information and tasks for a system to perform.
Programmable Logic Controller		(PLC) A device that allows for control of the equipment used for production. The user has more control with this device since it can provide the status of performance of the robots.
Pseudoinverse		The simple method of inverting a matrix that is not square. As commonly applied to redundant robots, the pseudoinverse minimizes the two-norm of the joint speeds.
Punching		The process of forming metal components using a punch. The punch is usually the upper member of the complete die assembly and is mounted on the slide or in a die set for alignment (except in the inverted die).
Reach		The distance from the center of the robot to the fullest extension of the robotic arm. The work envelope is determined from this distance.
Rebuild		Improvements are made to parts of the robots to return it to its original appearance, performance and life expectancy as closely as possible.
Redundancy		More independent variables than constraints.
Reliability		A measure of the robot's end-effector's ability to perform similar operations multiple times based on similar operating conditions.
Remanufacture		To improve and advance robots in order to meet current standards.
Remote Compliance Center		(RCC) Used to decouple linear and rotational motion. All compliance structures have a center though the remote compliance center is projected outward.
Repair		To renew a robotic system by fixing any problems that have occurred to ensure proper operation.
Repeatability		The variability of the end-effector's position and orientation as the robot makes the same moves under the same conditions (load, temp, etc.)
Resolved-Rate		An extremely simple inverse kinematics method at the velocity-level. Scale is changing magnitude by linear operation (i.e. multiplying by a scalar). Self-motion is the robot's ability to move its intermediate links while holding the placement of the end-effector constant.
Restricted Envelope Space		A part of the maximum envelope in which the distance determines the boundaries the robot moves after the limiting device is activated.
Robot		A reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motion for performance of a variety of tasks.
Robot Manufacturer		Creates, builds and/or sells robots and robotic equipment. (Common Misspellings: robot manufacterur, robot manufacturor, robot manufacterur, robot manufacterer, robotiks manufacturer, roboticks manufacturer)
Robot simulation		To imitate and observe processes through a model of the system.
Robot System Integrator		A business that merges robots, peripherals, and manufacturing machinery into a production system that functions as a single unit to perform manufacturing tasks.
Robotic Deburring Tool		A tool used to remove material such as burrs, sharp edges, or fins off metal parts. (Common Misspellings: robotiks deburring, oboticks deburring)
Robotic Rotary Joint		(Robotic Rotary Union, Robot Slip Ring) Consisting of a stationary part connected to the arm of the robot and a rotating part connected to the wrist and tool allowing for electrical and pneumatic cables to stay in place while cables required for the tool are free to rotate. Electricity is provided by the used of a slip ring. (Common Misspellings: robotiks rotary joint, roboticks rotary joint)
Robotic Self-Motion		The robot maintains the position of the end-effector while allowing other parts on the robot to move.
Robotic Tool Changer		Component with two mating parts (master and tool) that have been designed to lock together automatically (normally using pneumatic pressure) and are able to pass utilities (e.g. electrical signals, pneumatic supply, water, etc.). The master side of the tool changer mounts to a robot, or other structure. The tool side of the tool changer mounts to tooling, such as grippers, welders, or deburring tools. A robotic tool changer is also known as an automatic tool changer, robot tool changer, robot coupler, robotic coupler, and robotic connector.
RobotWorx		Company in central Ohio that provides new and used robot sales, integration, and robot service to the United States, Canada, and Mexico. Specializes in Motoman, Fanuc, Panasonic, Nachi, and ABB robots. (Common Misspellings: RobotWorks, RobotWork, RoboWorx, RoboWorks, RoboWork, Robot Worx)
Roll Forming		A process that takes metal sheet, usually coils, and passes it through a series of roller dies that progressively form the metal into the required profile or shape. The roll forming process can save end-users money since some operations, typically considered as secondary, can be combined in the roll forming operation. Roll forming is a continuous bending operation in the metal forming process, when sheet or strip metal is plastically deformed along a linear axis by being passed through a series of roller dies and progressively shaped to the desired contour.
Rotational Motion		Describes circular movement with respect to the axis.
Safeguard		Protects workers from hazardous situations through physical barriers or guidelines to follow.
Safety Procedure		A set of instructions to help avoid harmful or dangerous situations.
Scale		Changing magnitude by linear operation, i.e. multiplying by a scalar.
SCARA Robot		A type of robot consisting of two concurrent joints that rotate and meet certain needs within the same plane.
Self-Assembly		A branch of nanotechnology in which objects, devices, and systems form structures without external prodding.
self-motion		The robot's ability to move it's intermediate links while holding the placement of the end-effector constant.
Self-Replication		Systems and devices in nanotechnology that make copies of themselves on their own.
Semiautomatic welding		The equipment only controls the electrode wire feeding. The welding torch movement is controlled by hand.
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.
Serial Robot		A serial robot is a single chain of joints connected by links.
Service		To improve, restore, and keep at proper working standards.
Shearing		A cutting force applied perpendicular to material causing the material to yield and break. Shearing is a process for cutting sheet metal to size out of larger stock such as roll stock. Shears are used as the preliminary step in preparing stock for stamping processes, or smaller blanks for CNC presses.
Shoulder		The joint of the robot's manipulator arm connected to the base.
Simulation		Modeling a situation through mathematics or computer programming.
Single Point of Control		Operations of the robot are controlled solely by one source.
Singularity		A position in the robot's workspace where one or more joints no longer represent independent controlling variables. Commonly used to indicate a position where a particular mathematical formulation fails.
Slitting		A shearing process, but rather than making cuts at the end of a workpiece like shearing, slitting cuts a wide coil of metal into a number of narrower coils as the main coil is moved through the slitter. During the slitting process, the metal coil passes lengthwise through the slitter's circular blades.
Slow Speed Control		The robot's velocity of movement is decreased enough that the user can remove material or stop motion completely.
Soft Tooling		Used in processes such as CNC turret presses, laser profilers, and press brakes, soft tooling can be easily modified or adjusted, unlike hard tooling.
Software		A written program used by the computer to instruct the hardware to perform certain tasks.
Solenoid		A coil containing a moveable iron core. The core moves as the electrical current moves through the coil.
Spherical Robot		Consisting of three joints allowing for movement among a polar coordinate system.
Start-up		Providing power to a robot or system to begin operations.
Statics		The study of forces that do not cause motion.
Stucco embossing		Applies a pebble-like finish etched into the formed metal. This process helps to reduce the amount of light reflecting off the metal, adds strength to the material, and makes the product more esthetically pleasing.
Swing		A robot's rotational movement with respect to its centerline.
Systems Integrators		A company or person, which has the ability and knowledge to integrate the various parts of a robot welding system. System integrators are used to establish the requirements of a welding application and integrate the required equipment accordingly.
Teach		The generation and storage of a series of positional data points affected 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 affected by moving the robot arm through a path of intended motions.
Test Automation		Software used to perform tests to observe various information about a system.
TIG Welding		TIG is short for Gas Tungsten Arc Welding (GTAW). In the TIG welding process, an arc is formed between a non-consumable tungsten electrode and the metal being welded. Gas is fed through the torch to shield the electrode and molten weld pool. TIG is most commonly used in high quality, high precision, welding applications.
Tool Center Point		(TCP) The central axis of the tool movement.
Trigger Point		The moment a component moves to a different state.
Turnkey Project		A project in which a separate entity is responsible for setting up a plant or equipment and putting it into operation. (Common misspellings: turn-key, turn-key project)
Two-Norm		The square root of the sum of the squares. The magnitude of a vector.
Velocity-Level		Mathematical formulations working with the joint speeds. Integrating the joint speeds once provides the displacements. See acceleration-level and position-level.
Vertical Stroke		The amount of vertical motion of a robot arm from one elevation to the other.
VLSI		(Very Large Scale Integration) Combining multiple components onto one chip.
Welding		The process of permanently joining two or more metal parts, by melting both materials. The molten materials quickly cool, and the two metals are permanently bonded.
Weldor		A worker who joins metals together through the use of heat.
Work Cell		Pieces of equipment within close proximity that all work on the same part.
Work Envelope		The boundary of space a robot can perform operations.
Work in Progress		An accounting term used to express the value of material taken up continuously by the work process.
Work Station		A place that the parts move to in order to be worked on.
workspace		The maximum reach space refers to all of the points the robot can possibly reach. The dexterous workspace is all of the possible points the robot can reach with an arbitrary orientation. The dexterous workspace is usually a subspace of the maximum reach space.
Workspace		The area the robot can reach to perform operations. A portion of the maximum reach space.
Workspace		The maximum reach space refers to all of the points the robot can possibly reach. The dexterous workspace is all of the possible points the robot can reach with an arbitrary orientation. The dexterous workspace is usually a subspace of the maximum reach space.
Wrist		The end-effector is connected to this joint on the manipulator arm.
XYZ Coordinates		A reference to the most common names given to the lines forming a Cartesian solid.
Yaw		The side-to-side motion of the end-effector's rotation at an axis.

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