Glossary
Short definitions for lessons and tools.
| Term | Meaning |
|---|---|
| Joint | A movable connection between links, rotational or translational. |
| Link | A part of the kinematic model between joints. |
| Motor ID | A device address on the bus, not an angle or lesson-step number. |
| Encoder | A position sensor whose counts are converted to angle or displacement. |
| Torque | Drive effort/holding force. Disabling it may free the joint. |
| Forward kinematics / FK | Calculate link position from joint values. |
| Inverse kinematics / IK | Find joint values for a target pose; a solution may not exist. |
| TCP | Tool center point, such as the working grasp point. |
| URDF | Robot links, joints, geometry and limits description. |
| Leader / Follower | The leader supplies movement and the follower repeats it. |
| Intrinsics | Camera projection and distortion parameters. |
| ArUco / ChArUco | Recognition markers; ChArUco combines markers with a chessboard structure. |
| PID | A controller with proportional, integral and derivative terms. |
| Policy | A model or rule mapping observations to actions. |
| Episode | One recorded task demonstration. |
| ROS2 topic | A named message channel between nodes; Lab provides a supported browser implementation. |
Units
Read each field’s units. Millimetres in an interface and metres in an API differ by a factor of 1000; degrees and radians are not interchangeable. Raw in the path editor means encoder counts.
Controls
| Button or field | Action and result |
|---|---|
| Raw / Angles | In a path table, Raw means encoder counts; Angles means degrees or millimetres for a prismatic joint. Check the mode before editing. |
| Node / Apply XYZ to | Selects a calculation node for forward kinematics or a target link for inverse kinematics. This is not a motor ID on the bus. |
| Public / Share | Public sets path visibility; Share copies its link. Copying a link does not change visibility. |
| Save / Download / Export | Save may write to a profile, whereas Download or Export may download a file. Check the specific tool’s description. |
| Simulation: tab or mode | In Block code, the tab shows the scene and the mode selector determines where commands go. An open scene does not prove virtual execution. |
| Stop / Go home / torque off | Stop ends the current operation, Go home requests a new pose and torque off releases holding torque. These actions are not interchangeable. |
Unit example: 100 mm = 0.1 m; 90° = π/2 radians. Control robot labels coordinates in millimetres; MCP commands use metres. Do not transfer a number between panels without checking its unit.