1. Collaborative Robot

Terms	Description
Industrial Robot	Robots consisting of three or more axes of manipulators capable of automatic control and programming, with stationary or mobile robots
Robot System	Systems with robots, end devices, and any add-ons (machines, equipment, devices, etc.) to help the robot perform tasks
Separation distance	Distance between dangerous moving parts and people in a robotic system in a collaborative working area
Control station	Devices intended to activate/deactivate a robotic system or part of it, or to control its movement
Teaching	The act of instructing or storing the information necessary for the robot to perform the task
(Teach)Pendant	Portable controller that can teach, manipulate or control the robot (but simple visual devices that display information are not included in the Teach Pendant)
Safety Function	Refers to all functions necessary for operator safety in case of breakdown or failure
Emergency stop(device)	The ability to immediately stop the robot for operator safety in case of breakdown or failure If the operator stops the robot using an emergency stop device, the robot cannot be restarted with a device other than that device, and a product that meets ISO 13850 must be used
Protective separation distance	It means the distance that must be maintained between the moving part of the application and the operator, and refer to ISO 13855 for the method of calculating the distance. Minimum separation distance is usually set to at least 500 mm
Mobile Manipulator	A robot in which industrial robots (manipulator) and mobile platforms (mobile) are physically combined
Manipulator	An instrument consisting of connections of several joints that perform rotational or sliding movements for the purpose of holding or moving parts or tools
Muting	It means that the optoelectronic protective device (light curtain, laser scanner, etc.) is temporarily and securely stopped during operation. ex) ON/OFF the unit in turn using a muting sensor if material passes through the area where two protectors are installed
Robot User (End User)	Those who want to increase capital efficiency by increasing production through automation using robots ex) Companies that produce goods through an application using collaborative robots
Robot Installer (SI, System Integrator)	It refers to a system integration company, which is responsible for designing the optimal solution for the customer, purchasing and connecting robots, peripherals, and equipment needed for the solution, and finally automating the application
Robot manufacturer	Companies that manufacture robots ex) UR, Doosan Robotics, etc
C.T (Cycle Time)	Time it takes for the robot to be installed and the automated application to complete a series of operational procedures
Cell	One or more robotic systems and protected areas, including robots and mechanical facilities and equipment
Process(application) design	The stage of planning the location of the facility, etc before the construction of an automated application facility using a robot
Test operation	The steps to test run the equipment before the production of the product after the process(application) design
Work object	Target work object of the robot
End Effector	It means the part where the robot interacts with the work object and it would correspond to the hand and finger when compared to the human body ex) Grippers, welding guns, etc
Gripper	One of the types of end effectors that has a general shape in the form of tongs, but there are various shapes because they are manufactured depending on the work object
Joint	It consists of two links that correspond to the robot's joints
Link	The part of the robot that connects the joint to the joint
Singularity	It refers to a posture that can lose the degree of freedom during robot motion and is typically formed near the boundary of the work area (when robot arm is straightened)
Kinematics	For the same robot posture, a calculation of transformation between two coordinate systems (Cartesian/joint coordinate system) is required, and this is referred to as kinematics
Forward Kinematics	the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters.
Inverse Kinematics	A calculation that converts the position and posture of the end-effector into a joint angle, and there may be multiple solutions (the joint angle estimated by the inverse kinematics may not match the actual movement) or no solutions (if it corresponds to a singularity)
Jacobian matrix	matrix for calculating inverse kinetics ex) Person: Extend robot arm forward 5cm → Calculate using Jacobian matrix → Robot: By bending joints by X degree, arm can be extended forward 5cm.
Dextrous workspace	The area where the robot's end effector can reach in any direction
Reachable workspace	The area where the robot's end-effector is reachable, including where the direction is restricted
Restricted space	An area set by a device that triggers a limit to prevent any failure or malfunction in the robot system as part of the maximum area
Coordinate system	A coordinate system used by a robot to represent its position and movement, and a typical coordinate system used by a collaborative robot is an orthogonal coordinate system (or robot coordinate system)
TCP (Tool Center Point)	The origin of the robot coordinate system or the operating point of the tool attached to the robot arm

2. SafetyDesigner

Terms	Description
Collaborative workspace (Risk space)	It means a work space where robots and people collaborate SafetyDesigner allows you to set up six types of body parts that are expected to collide with robots in a collaborative work space
Collision point	Means the physical location of work object that is expected to collide with a person or object SafetyDesigner allows you to specify position and collision shapes
CRI (Collision Risk Index)	Information that indicates how "close" or "not close" to "maximum impact force and pressure values evaluated through testing" compared to "maximum force and pressure values allowed in the event of a collision" defined in safety standards (ISO/TS 15066, KOROS 1162-1) when a robot and a human collide In SafetyDesigner, if CRI≤1, the collision analysis result is PASS, and if CRI>1, result is FAIL.
Motion	It refers to the movement of the robot, and SafetyDesigner allows uploading and using a .txt file extracted using a provided motion extractor program
Safety direction	It refers to the movement of the robot in the direction of moving away from the person
Rotation point	A function or point set as a reference to set the reference position for rotating and viewing the 3D screen of the SafetyDesigner
STL file	One of the 3D data file formats used to upload a gripper's 3D model to SafetyDesigner
Pain onset	ISO/TS 15066 safety standards or the results of an analysis using the tolerance value of the following standard
Pain tolerance	KOROS 1162-1 safety standards or the results of the analysis using the tolerance value of following safety standard
Application sharing	Function that allows sharing applications designed through SafetyDesigner with other accounts