C-27
166006-1CD
166006-1CD
Appendix C
X
RM2-755/1255SL
Positioner
World Coordinates
A reference coordinate system in which the Manipulator arm moves in
linear motions along a set of Cartesian or rectangular axes in X, Y, and Z
directions. The shape of the work envelope forms a rectangular figure.
See "Rectangular-Coordinate Robot".
World Model
A three dimensional representation of the robot's work environment,
including objects and their position and orientation in this environment,
which is stored in robot memory. As objects are sensed within the
environment the Controller system continually updates the World Model.
Robots use this World Model to aid in determining its actions in order to
complete given tasks.
Wrist
A set of rotary joints between the arm and the Manipulator end-effector
that allow the end-effector to be oriented to the work-piece. In most cases
the wrist can have degrees of freedom which enable it to grasp an object
with roll, pitch, and yaw orientation. See "End-effector", "Roll", "Pitch",
"Yaw" and "Work Piece".
Wrist [Secondary Axis]
An interconnected set of links and powered joints between the arm and
end- effector, which supports, positions and orientates the end effector.
(ISO 8373)
X
Y
Yaw
Rotation of the end-effector in a horizontal plane around the end of the
Manipulator arm. Side to side motion at an axis. See "Roll" and "Pitch".
Z
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