Actuator- A motor or valve that converts power into robot movement.

Angular Actuators- A motor, the driving force of which provides angular rotation. Moves loads in
an arc or circle.
Anthropomorphic- A word used to describe a robot that is humanlike in form.

Cartesian Configuration- Geometric description of the arm movement of a robot along three
intersecting perpendicular axes (straight lines). Movement along all three axes can start and stop
simultaneously.

Closed-Loop System- A system that allows for feedback that affects the output of the system.
Controller- The part of a robot that coordinates all movements of the mechanical system. It is
usually a microprocessor that receives input from the immediate environment through various
sensors.
Cylindrical Configuration- Geometric description of a robot in which its range of motion assumes
a cylindrical shape. The arm consists of two orthogonal slides mounted on a rotary axis. Reach
is accomplished as the arm of the robot moves in and out. For vertical movement the carriage
moves up and down on a stationary post, can move up and down in the base of the robot.
Degrees of freedom- Term used to describe a robots dexterity, or freedom of motion. For each
degree of freedom, a joint (or axis) is required.
Direct-drive electric motors- High torque motor that drives a robot arm directly without the use of
reducer gears.

Electric drive- Any actuator driven by an electric motor

End effector- a robots gripper o rhand
Error signals- feedback to a servo amplifier. Applied to the servo control value along the
appropriate manipulator axis.
Hierarchical control- an arrangement in which a given level of robotic control is more elemental
than the one above it and is dependant on the level above it for its instructions

Hydraulic drive- A hydraulic drive system is a drive or transmission system that uses

pressurized hydraulic fluid to power hydraulic machinery. The term hydrostatic refers
to the transfer of energy from flow and pressure, not from the kinetic energy of the flow.
Hydraulic system- Fluid power system generally consisting of an electric pump connected to a
reservoir tank filled with fluid, some control valves, and a hydraulic actuator.
Linear actuators- Motor that provides motion along a straight line
Manipulator- The part of a robot consisting of segments that may be jointed and that move
about, allowing the robot to do work; a robots arm

Nonservo robot Open-loop system- A non intelligent robot. The U.S defines a nonsevo robot as
the simplest type of robot.
Pitch- The up-and-down movement of the robot's wrist;bend.
Pneumatic systems- Power system thats uses air as its energy source. Its construction is similar
to that of a hydraulic system.
Power supply- The system that supplies the power required by a robot. The power supply may
convert ac line voltage to dc voltage, or it may be a pump or compressor providing hydraulic or
pneumatic power.
Program- A series of instructions, stored in the controllers memory, that controls robot
movement.

Radial traverse- Extension and retraction of the robot arm, creating in-and-out motion relative to
the base.
Revolute configuration- Term used to describe the irregularly shaped work envelope of a robot
with rotary joints.
Roll- Swivel, or rotation, of the robots wrist.
Rotational traverse- Movement about a vertical axis. The side-to-side swivel of the robots arm
about its base.

SCARA: Selective Compliance Assembly Robot Arm. Developed by Professor Makino of

Yamanashi University, Japan. Its design allows it to be firmly yielding in horizontal motions and
rigid vertical motions.
Servo Robot: A robot classified as intelligent or highly intelligent, determined by its level of
awareness of its environment.
Spherical Configuration: Geometric description of the shape of a robots work envelope, which
resembles a sphere. A pivot point gives the robot its vertical movement. Reach is accomplished
by means of a telescoping boom that extends and retracts. Rotary movement occurs around a
rotary axis. Sometimes referred to as the polar configuration.
Tachometer: A device used to measure speed.
Teach Pendent: A device used to record movements into the robot's memory.
Trajectory: The resulting path of a robots end effector as programmed in the controller.
Vertical Traverse: Up-and-down motion of the robot arm.
Work Envelope: The area within the robots end effector can reach.

Yaw: Side-to-side movement of the robots wrist.

Nonservo robot Open-loop system: A non intelligent robot. The U.S defines a nonsevo robot as
the simplest type of robot.
Pitch: The up-and-down movement of the robot's wrist;bend.
Pneumatic systems: Power system that uses air as its energy source. Its construction is similar
to that of a hydraulic system.
Power supply: The system that supplies the power required by a robot. The power supply may
convert acline voltage to dc voltage, or it may be a pump or compressor providing hydraulic or
pneumatic power.
Program: A series of instructions, stored in the controllers memory, that controls robot
movement.
Radial traverse: Extension and retraction of the robot arm, creating in-and-out motion relative to
the base.
Revolute configuration: Term used to describe the irregularly shaped work envelope of a robot
with rotary joints.
Roll: Swivel, or rotation, of the robots wrist.
Rotational traverse: Movement about a vertical axis. The side-to-side swivel of the robots arm
about its base.
SCARA: Selective Compliance Assembly Robot Arm. Developed by Professor Makino of
Yamanashi University, Japan. Its design allows it to be firmly yielding in horizontal motions and
rigid vertical motions.
Servo Robot: A robot classified as intelligent or highly intelligent, determined by its level of
awareness of its environment.
Spherical Configuration: Geometric description of the shape of a robots work envelope, which
resembles a sphere. A pivot point gives the robot its vertical movement. Reach is accomplished

by means of a telescoping boom that extends and retracts. Rotary movement occurs around a
rotary axis. Sometimes referred to as the polar configuration.
Tachometer: A device used to measure speed.
Teach Pendent: A device used to record movements into the robot's memory.
Trajectory: The resulting path of a robots end effector as programmed in the controller.
Vertical Traverse: Up-and-down motion of the robot arm.
Work Envelope: The area within the robots end effector can reach.
Yaw: Side-to-side movement of the robots wrist.