ISO 8373-2021 pdf free download – Robotics — Vocabulary.
4.15.1
wheeled robot
mobile robot (4.15) that travels using wheelsNote 1 to entry: See Figure A.6.
4.15.2
legged robot
mobile robot (4.15) that travels using one or more legs (4.4)Note 1 to entry: See Figure A.7.
4.15.3
biped robot
legged robot (4.15.2) that travels using two legs (4.4)Note 1 to entry: See Figure A.8.
4.15.4
crawler robottracked robot
mobile robot (4.15) that travels on tracksNote 1 to entry: See Figure A.9.
4.15.5
humanoid robot
robot (3.1) with body, head and limbs, looking and moving like a humanNote 1 to entry: See Figure A.8.
4.16
mobile platform
assembly of the components which enables locomotion
Note 1 to entry: A mobile platform can include a chassis which can be used to support a load (7.2).Note 2 to entry: A mobile platform can provide the structure by which to afix a manipulator (4.14).
Note 3 to entry: Mobile platform following a predetermined path(5.5.4) indicated by markers or externalguidance commands,typically used for logistic tasks in industrial automation is also referred to as AutomatedGuided Vehicle (AGV) or Driverless lndustrial Truck. Standards for such vehicles are developed by lSO/TC110.4.17
wearable robot
robot (3.1) that is attached to and carried by the human during use and provides an assistive force forsupplementation or augmentation of personal capabilities
5Terms related to geometry and kinematics
5.1 forward kinematics
mathematical determination of the relationship between the coordinate systems of two parts of amechanical linkage, based on the joint values of this linkage
Note 1 to entry: For a manipulator (4.14), it is usually the relationship between the tool coordinate system (5.11)and the base coordinate system (5.8j that is determined.
5.2 inverse kinematics
mathematical determination of the joint values of a mechanical linkage, based on the relationship of thecoordinate systems of two parts of this linkage
Note 1 to entry: For a manipulator(4.14), it is usually the relationship between the tool coordinate system (5.11)and the base coordinate system (5.8) that is used to determine the joint values.
5.3 axis
direction used to specify the robot (3.1) motion in a linear or rotary modeNote 1 to entry : “Axis” is also used to mean “robot mechanical joint”.
5.4 degree of freedomDOF
one of the variables (maximum number of six) required to define the motion of a body in space
Note 1 to entry: Because of possible confusion with axes (5.3), it is advisable notto use the term degree offreedomto describe the motion of the robot.
5.5 pose
combination of position and orientation in space
Note 1 to entry: Pose for the manipulator(4.14) normally refers to the position and orientation of the end-effector(4.12) or the mechanical interface (4.11).
Note 2 to entry: Pose for a mobile robot(4.15) can include the set of poses of the mobile platform(4.16) and of anymanipulator attached to the mobile platform, with respect to the mobile platform coordinate system (5.12).
5.5.1 command poseprogrammed pose
pose (5.5) specified by the task program (6.1)
5.5.2 attained pose
pose (5.5) achieved by the robot (3.1) in response to the command pose [5.5.1)
5.5.3 alignment pose
specified pose (5.5) used to establish a geometrical reference for the robot (3.1)
5.5.4 path
route that connects an ordered set of poses (5.5)
5.6 trajectory
path (5.5.4) in time
5.7 world coordinate system
stationary coordinate system referenced to earth, which is independent of the robot(3.1) motion.ISO 8373 pdf download.