Introduction to Robotics

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Vocabulary flashcards covering key terms, robot system components, classifications, mechanical joints, control types, and degrees of freedom from the Introduction to Robotics lecture.

Last updated 12:05 PM on 9/10/26
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16 Terms

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Industrial Robot

A freely programmable, program-controlled handling device derived from the Slavic word robota, meaning hard work.

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Robot System Components

The five fundamental components of a robot system: manipulator, means for programming, controller, end effector, and power supply.

<p>The five fundamental components of a robot system: manipulator, means for programming, controller, end effector, and power supply.</p>
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Servo (Closed-Loop) Control

A control system that uses a feedback signal to detect and correct errors, allowing precise control of position or velocity.

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Non-Servo (Open-Loop) Control

A control system with no feedback signal, typical of limited sequence or pick and place robots.

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Electric Actuator Drive

An actuator drive mechanism using electric motors, such as Alternating Current (AC) Servo Motors, Direct Current (DC) Servo Motors, or Stepper Motors.

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Hydraulic Actuator Drive

A fluid power system using oil with hydraulic cylinders and motors.

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Pneumatic Actuator Drive

A fluid power system using compressed air with pneumatic cylinders and motors.

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Work Envelope

The generated 3D volume of space reachable by a robot, determined by coordinate system, joint arrangement, manipulator segment lengths, and wrist reach.

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Mechanical Joints

Structural connections between manipulator components, including Revolute, Prismatic, Cylindrical, Screw, Cardan, and Spherical joints.

<p>Structural connections between manipulator components, including Revolute, Prismatic, Cylindrical, Screw, Cardan, and Spherical joints.</p>
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Cartesian Work Envelope

A rectangular work envelope shape generated by linear Cartesian movements, available in Standard Configuration or Gantry Configuration.

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Revolute Work Envelope

A work envelope shape generated by revolute arm joints that requires both a side view and a top view to properly present.

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Degrees of Freedom (DOF)

The independent parameters describing a robot's freedom to move in 3-D space, where each degree of freedom requires a joint.

<p>The independent parameters describing a robot's freedom to move in 3-D space, where each degree of freedom requires a joint.</p>
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Robot Wrist

A section of the robot manipulator that increases end-of-arm tooling flexibility through three minor degrees of freedom.

<p>A section of the robot manipulator that increases end-of-arm tooling flexibility through three minor degrees of freedom.</p>
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Pitch

The minor degree of freedom representing the bend or up and down movement of the robot wrist.

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Yaw

The minor degree of freedom representing the side to side movement of the robot wrist.

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Roll

The minor degree of freedom representing the swivel or rotation of the robot wrist.