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186638-1CD
186638-1CD
Appendix A
A.1 Glossary J
GP8 EduCart
ISO 10218-2 Robots and robotic devices — Safety requirements for
industrial robots — Part 2: Robot systems and integration
A companion document to ISO 10218-1. This safety specification provides
guidance to both end users and robot integrators as it pertains to the safe
design, Installation and commissioning of robot systems, as well as
recommended procedures, safeguarding and information required for use.
ISO TS 15066(ANSI RIA 15.606): Robots and robotic devices -
Collaborative robots
Provides detailed guidance not found in ISO 10218 parts 1 or 2 for the
safe use of industrial robots operating collaboratively.
J
Jacobian matrix
The Jacobian matrix relates the rates of change of joint values with the
rates of change of endpoint co-ordinates. Essentially it is a set of
algorithm calculations that are processed to control the positioning of a
robot.
JOB
JOB is the YASKAWA name for a robot program created using
YASKAWA’s INFORM robot programming language. Typically, a JOB
consists of instructions that tell the YRC1000micro Controller what to do
and data that the program uses when it is running.
Joint
A part of the manipulator system, which allows a rotation and/or
translational degree of freedom of a link of end-effector.
Joint Interpolated Motion
A method of coordinating the movement of the joints, such that all joints
arrive at the desired location simultaneously. This method of servo control
produces a predictable path regardless of speed and results in the fastest
pick and place cycle time for a particular move.
Joint Motion Type
Also known as Point-to-Point Motion, Joint Motion Type is a method of
path interpolation that commands the movement of the robot by moving
each joint directly to the commanded position so that all axis arrive to the
position at the same time. Although the path is predictable, it will not be
linear.
Joint Space
a. Joint Space (or Joint Coordinates) is just a method of defining the
position of the robot in terms of the value of each axis instead of as a TCP
position. For example, the Home Position of a robot is often defined in
Joint Space as each axis being at 0 degrees.
b. The set of joint positions.
Joints
The parts of the robot arm which actually bend or move.
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