Ch15: Robotic Assistive Technologies That Aid Manipulation

Question 1

Cartesian Control

Answer 1

Robotic arm control mode in which the user is able to directly control the x-y-z position of the robot end-effector moving it up/down, left/right, forward/backward

Question 2

Degrees of Freedom

Answer 2

Number of variables required to determine the position of a mechanism in space. In a robotic arm, each joint (base, shoulder, elbow, the wrist joints) introduces a degree of freedom

Question 3

Joint Control

Answer 3

Robotic arm control mode in which the user controls the angular displacement of each robotic arm joint

Question 4

Levels of Autonomy

Answer 4

Different function allocations between the user and the robotic system. A robotic system can perform a task all by itself (fully autonomous), completely under the control of the user (teleoperated), or accomplish parts of the task by itself and others with input from the user (intermediate level of autonomy)

Question 5

Mobile Robotic Platform

Answer 5

Robot with wheels that allow it to move around

Question 6

Personal care robot

Answer 6

Service robot that performs actions contributing directly toward improvement in the quality of life of humans, excluding medical applications (ISO 13482)

Question 7

Personal service robot

Answer 7

Service robot for personal use and non-commercial tasks (ISO 8373)

Question 8

Play

Answer 8

A range of voluntary, intrinsically motivated activities associated with recreational pleasure and enjoyment

Question 9

Robot

Answer 9

Actuated mechanism programmable in two or more axes with a degree of autonomy, moving within its environment, to perform intended tasks (ISO 8373)

Question 10

Robotic Workstation

Answer 10

General-purpose robotic systems create full access to an area dedicated to performing a specific job or activity.