Preparing the published article.
Kinematics and Motion Terms
The vocabulary of robot movement.
Terms
| Term | Meaning |
|---|---|
| Degrees of freedom | Number of independently driven joints |
| Workspace | The set of points the tool can reach |
| Pose | Position plus orientation |
| Interpolation | How the controller generates the path (linear, circular) |
| Singularity | A pose where the mechanism loses a degree of freedom |
| Settling time | How long oscillation continues after a move |
Why the words matter
Technical agreements should state how cycle time is measured and which poses the task uses, because both change the result long before the robot model does.