ISO/DIS 8373

ISO/TC 299

Secretariat: SIS

Date: 2025-12-11

Robotics — Vocabulary

Robotique — Vocabulaire

DIS stage

© ISO 2025

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Contents

Foreword

Introduction

Scope

Normative references

Terms and definitions — General

Terms related to mechanical structure

Terms related to geometry and kinematics

Terms related to programming and control

Terms related to performance

Terms related to sensing and navigation

Terms related to module and modularity

(informative) Examples of types of mechanical structure

Bibliography

Foreword

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This document was prepared by Technical Committee ISO/TC 299, Robotics.

This third edition cancels and replaces the second edition (ISO 8373:2012), which has been technically revised.

The main changes to the previous edition are as follows:

• definitions have been reviewed to take into account the state of the art;
• entries have been added, e.g. medical robot, wearable robot and terms related to modularity;
• terms and definitions have been updated for harmonization with existing standards.

Any feedback or questions on this document should be directed to the user’s national standards body. A complete listing of these bodies can be found at www.iso.org/members.html.

Introduction

This document provides a vocabulary of terms and related definitions for use in ISO documents relating to robotics. It supports the development of new documents and the harmonization of existing International Standards. Future amendments might be published in order to harmonize with ISO/TC 299 documents currently under development.

Robotics — Vocabulary

This document defines terms used in relation to robotics.

There are no normative references in this document.

ISO and IEC maintain terminology databases for use in standardization at the following addresses:

• ISO Online browsing platform: available at https://www.iso.org/obp
• IEC Electropedia: available at https://www.electropedia.org/

robot

programmed actuated mechanism with a degree of autonomy (3.2) to perform locomotion, manipulation or positioning

Note 1 to entry: A robot includes the control system (3.4).

Note 2 to entry: A robot can be classified into a manipulator (4.13), a mobile platform (4.15) or a wearable robot (4.16) according to its basic mechanical structure. A robot also can be a combination of basic mechanical structures, for example, the mobile manipulator (4.17) .

Note 3 to entry: A robot can be classified into an industrial robot, a service robot, or a medical robot according to its intended use.

autonomy

ability to perform intended tasks based on current state and sensing, without human intervention

Note 1 to entry: For a particular application, degree of autonomy can be evaluated according to the quality of decision making and independence from human. For example, metrics for degree of autonomy exists for medical electrical equipment in IEC/TR 60601-4-1.

robotic technology

practical application knowledge commonly used in the design of robots or their control systems, especially to raise their degree of autonomy (3.2)

EXAMPLE Perception, reasoning and planning algorithms.

control system

robot controller

set of hardware and software components implementing logic and power control, and other functions which allows monitoring and controlling the behaviour of a robot (3.1) and its interaction and communication with other objects and humans in the environment

robotic device

mechanism developed with robotic technology (3.3), but not fulfilling all characteristics of robot (3.1)

EXAMPLE Teleoperated remote manipulator, haptic device, end-effector, unpowered exoskeleton.

industrial robot

automatically controlled, reprogrammable multipurpose manipulator(s) (4.13), programmable in three or more axes (5.3), which can be either fixed in place or fixed to a mobile platform (4.15) for use in automation applications in an industrial environment

Note 1 to entry: The industrial robot includes:

• the manipulator, including robot actuators controlled by the robot control;
•  the robot control; and
• the means by which to teach or program the robot, including any communications interface (hardware and software).

Note 2 to entry: Industrial robots include any auxiliary axes that are integrated into the kinematic solution.

Note 3 to entry: A mobile robots (4.14) consists of a mobile platform with an integrated manipulator or robot (3.1).

service robot

robot (3.1) in personal use or professional use that performs useful tasks for humans or equipment

Note 1 to entry: Tasks in personal use include handling or serving of items, transportation, physical support, providing guidance or information, grooming, cooking and food handling, and cleaning.

Note 2 to entry: Tasks in professional use include inspection, surveillance, handling of items, person transportation, providing guidance or information, cooking and food handling, and cleaning.

medical robot

robot (3.1) intended to be used as medical electrical equipment or medical electrical system

Note 1 to entry: A medical robot is not regarded as an industrial robot (3.6) or a service robot (3.7).

industrial robot system

machine comprising an industrial robot (3.6); end-effector(s) (4.11); any end-effector sensors and equipment (e.g. vision systems, adhesive dispensing, weld controller) needed to support the intended task; and a task program

Note 1 to entry: The robot system requirements, including those for controlling hazards, are contained in ISO 10218-2.

robotics

science and practice of designing, manufacturing, and applying robots (3.1)

operator

person designated to make parameter and program changes, and to start, monitor, and stop the intended operation of the robot

task programmer

person designated to prepare the task program (6.1)

collaboration

operation by purposely designed robots (3.1) and person working within the same space

robot cooperation

information and action exchanges between multiple robots (3.1) to ensure that their motions work effectively together to accomplish the task

human–robot interaction

HRI

information and action exchanges between human and robot (3.1) to perform a task by means of a user interface (6.18)

EXAMPLE Exchanges through vocal, visual and tactile means.

Note 1 to entry: Because of possible confusion, it is advisable not to use the abbreviated term “HRI” for human–robot interface when describing user interface.

validation

confirmation by examination and provision of objective evidence that the particular requirements for a specific intended use have been fulfilled

[SOURCE: ISO 9000, 3.8.13, modified — definition modified and notes to entry removed.]

verification

confirmation by examination and provision of objective evidence that the requirements have been fulfilled

[SOURCE: ISO 9000, 3.8.12, modified — definition modified and notes to entry removed.]

actuator

robot actuator

power mechanism that converts electrical, hydraulic, pneumatic or any energy to effect motion of the robot

robotic arm

arm

primary axes

interconnected set of links (4.6) and powered joints of the manipulator (4.13), between the base (4.8) and the wrist (4.3)

robotic wrist

wrist

secondary axes

interconnected set of links (4.6) and powered joints (4.7) of the manipulator (4.13) between the arm (4.2) and end-effector (4.11) which supports, positions and orients the end-effector

robotic leg

leg

mechanism of interconnected set of links (4.6) and joints (4.7) which is actuated to support and propel the mobile robot (4.14) by making reciprocating motion and intermittent contact with the travel surface (8.7)

configuration

set of all joint (4.7) values that completely determines the shape of the robot (3.1) at any time

link

rigid body connected to one or more rigid bodies by joints (4.7)

joint

mechanical part that connects two rigid bodies and enables constrained relative motion between them

Note 1 to entry: A joint is either active/powered or passive/unpowered.

prismatic joint

sliding joint

assembly between two links (4.6) which enables one to have a linear motion relative to the other

rotary joint

revolute joint

assembly connecting two links (4.6) which enables one to rotate relative to the other about a fixed axis (5.3)

base

structural part of the manipulator (4.13) to which the first link (4.6) is attached

base mounting surface

connection surface to which the base (4.8) is mounted

mechanical interface

mounting surface at the end of the manipulator (4.13) to which the end-effector (4.11) is attached

Note 1 to entry: See ISO 9409-1 and ISO 9409-2.

end-effector

device specifically designed for attachment to the mechanical interface (4.10) to enable the robot (3.1) to perform its task

EXAMPLE Gripper (4.12), welding gun, spray gun.

gripper

end-effector (4.11) designed for seizing and holding

manipulator

mechanism consisting of an arrangement of segments, jointed or sliding relative to one another

Note 1 to entry: A manipulator includes robot actuators (4.1).

Note 2 to entry: A manipulator does not include an end-effector (4.11).

Note 3 to entry: A manipulator typically consists of the arm (4.2) and the wrist (4.3).

Note 4 to entry: A manipulator can be classified into industrial manipulator, service manipulator or medical manipulator according to its intended use.

rectangular robot

Cartesian robot

manipulator (4.13) which has three prismatic joints (4.7.1), whose axes (5.3) form a Cartesian coordinate system

EXAMPLE Gantry robot (see Figure A.1)

cylindrical robot

manipulator (4.13) which has at least one rotary joint (4.7.2) and at least one prismatic joint (4.7.1), whose axes (5.3) form a cylindrical coordinate system

Note 1 to entry: See Figure A.2.

polar robot

spherical robot

manipulator (4.13) which has two rotary joints (4.7.2) and one prismatic joint (4.7.1), whose axes (5.3) form a polar coordinate system

Note 1 to entry: See Figure A.3.

pendular robot

manipulator (4.13) whose mechanical structure includes a universal joint pivoting subassembly

Note 1 to entry: See Figure A.4.

articulated robot

manipulator (4.13) which has three or more rotary joints (4.7.2)

Note 1 to entry: See Figure A.5.

SCARA robot

manipulator (4.13) which has two parallel rotary joints (4.7.2) to provide compliance (6.12) in a selected plane

Note 1 to entry: SCARA is derived from selectively compliant arm for robotic assembly.

Note 2 to entry: See Figure A.6.

parallel robot

parallel link robot

manipulator (4.13) whose arms (4.2) have links (4.6) which form a closed loop structure

EXAMPLE Stewart platform.

mobile robot

robot (3.1) able to travel under its own control

Note 1 to entry: A mobile robot can be a mobile platform (4.15) with or without manipulators (4.13).

Note 2 to entry: In addition to autonomous operation, mobile robot can have means to be remotely controlled.

Note 3 to entry: A mobile robot can be classified into industrial mobile robot, service mobile robot or medical mobile robot according to its intended use.

wheeled robot

mobile robot (4.14) that travels using wheels

Note 1 to entry: See Figure A.7.

legged robot

mobile robot (4.14) that travels using one or more legs (4.4)

Note 1 to entry: See Figure A.8.

biped robot

legged robot (4.14.2) that travels using two legs (4.4)

EXAMPLE Humanoid robot(See Figure A.9)

tracked robot

mobile robot (4.14) that travels on tracks

Note 1 to entry: See Figure A.10.

humanoid robot

robot (3.1) with body, head and limbs, looking and moving like a human

Note 1 to entry: See Figure A.9.

Note 2 to entry: Moving includes both travelling by lower limbs and manipulation by upper limbs.

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 affix a manipulator (4.13).

Note 3 to entry: A mobile platform following a predetermined path (5.5.4) indicated by markers or external guidance commands, typically used for logistic tasks in industrial automation is also referred to as Automated Guided Vehicle(AGV) or Driverless Industrial Truck. Standards for such vehicles are developed by ISO/TC110.

wearable robot

robot (3.1) that is attached to and carried by the human during use and provides an assistive force for supplementation or augmentation of personal capabilities

Note 1 to entry: A wearable robot can be classified into industrial wearable robot, service wearable robot or medical wearable robot according to its intended use.

mobile manipulator

manipulator (4.13) mounted on a mobile platform (4.15)

forward kinematics

mathematical determination of the relationship between the coordinate systems of two parts of a mechanical linkage, based on the joint values of this linkage

Note 1 to entry: For a manipulator (4.13), it is usually the relationship between the tool coordinate system (5.11)and the base coordinate system (5.8) that is determined.

inverse kinematics

mathematical determination of the joint values of a mechanical linkage, based on the relationship of the coordinate systems of two parts of this linkage

Note 1 to entry: For a manipulator (4.13), 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.

axis

direction used to specify the robot (3.1) motion in a linear or rotary mode

Note 1 to entry: “Axis” is also used to mean “robot mechanical joint”.

degree of freedom

DOF

one of the variables (maximum number of six) required to define the motion of a body in space (5.13)

Note 1 to entry: Because of possible confusion with axes (5.3), it is advisable not to use the term “degree of freedom” to describe the motion of the robot (3.1).

pose

combination of position and orientation in space

Note 1 to entry: Pose for the manipulator (4.13) normally refers to the position and orientation of the end-effector (4.11) or the mechanical interface (4.10).

Note 2 to entry: Pose for a mobile robot (4.14) can include the set of poses of the mobile platform (4.15) and of any manipulator attached to the mobile platform, with respect to the mobile platform coordinate system (5.12).

command pose

programmed pose

pose (5.5) specified by the task program (6.1)

attained pose

pose (5.5) achieved by the robot (3.1) in response to the command pose (5.5.1)

alignment pose

specified pose (5.5) used to establish a geometrical reference for the robot (3.1)

path

route that connects an ordered set of poses (5.5)

trajectory

path (5.5.4) in time

world coordinate system

stationary coordinate system referenced to earth, which is independent of the robot (3.1) motion

base coordinate system

coordinate system referenced to the base mounting surface (4.9)

mechanical interface coordinate system

coordinate system referenced to the mechanical interface (4.10)

joint coordinate system

coordinate system referenced to the joint axes (5.3), the joint coordinates of which are defined relative to the preceding joint coordinates or to some other coordinate system

tool coordinate system

TCS

coordinate system referenced to the tool or to the end-effector (4.11) attached to the mechanical interface (4.10)

mobile platform coordinate system

coordinate system referenced to one of the components of a mobile platform (4.15)

Note 1 to entry: A typical mobile platform coordinate system for the mobile robot (4.14) takes positive X as the forward direction and positive Z as the upward direction, and positive Y is decided by right-hand rule.

space

three dimensional volume

maximum space

space (5.13) which can be swept by the moving parts of the robot (3.1), plus the space which can be swept by the end-effector (4.11) and the workpiece

Note 1 to entry: For mobile platforms (4.15), this volume can be regarded as the full volume that can theoretically be reached by travelling.

restricted space

portion of the maximum space (5.13.1) restricted by limiting devices (6.21) that establish limits which will not be exceeded

Note 1 to entry: For mobile platforms (4.15), this volume can be limited by special markers on floors and walls, or by software limits defined in the internal map.

operational space

operating space

portion of the restricted space (5.13.2) that is used while performing all motions commanded by the task program (6.1)

working space

space (5.13) which can be swept by the wrist reference point (5.16)

Note 1 to entry: The working space (5.13.4) is smaller than the space which can be swept by all the moving parts of the manipulator (4.13).

safeguarded space

space (5.13) where safeguards are active

Note 1 to entry: This is sometimes described as the space (5.13) within the perimeter safeguarding (6.23)

Note 2 to entry: The safeguarded space can change dynamically.

zone

area designated for a particular purpose

EXAMPLE Task zone, detection zone, hazard zone

Note 1 to entry: A zone is typically used when describing the area of mobile robot’s (4.14) operation.

tool centre point

TCP

point defined for a given application with regard to the mechanical interface coordinate system (5.9)

wrist reference point

wrist centre point

wrist origin

intersection point of the two innermost secondary axes (4.3) (i.e. those closest to the primary axes (4.2)), or, if this does not exist, a specified point on the innermost secondary axis

mobile platform origin

mobile platform reference point

origin point of the mobile platform coordinate system (5.12)

singularity

occurrence whenever the rank of the Jacobian matrix becomes less than full rank

Note 1 to entry: Mathematically, in a singular configuration (4.5), the joint velocity in joint space can become infinite to maintain Cartesian velocity. In actual operation, motions defined in Cartesian space that pass near singularities can produce high axis speeds. These high speeds can be unexpected to an operator (3.11).

task program

set of instructions for motion and auxiliary functions that define the specific intended task of the robot (3.1) or robot system (3.9)

Note 1 to entry: This type of program is generated by the task programmer (3.12).

Note 2 to entry: An application is a general area of work; a task is specific within the application.

control program

inherent set of control instructions which defines the capabilities, actions and responses of a robot (3.1) or robot system (3.9)

Note 1 to entry: This type of program is usually generated before installation and can only be modified thereafter by the manufacturer.

task programming

programming

act of providing the task program (6.1)

teach programming

programming of the task performed by a) manually moving the robot to desired positions i.e. by lead-through; or b) using a teach pendant (6.16) to move the robot (3.1) through the desired positions; or c) using a teach pendant to program without causing motion; or d) using algorithm(s) with sensor data

off-line programming

programming method where the task program (6.1) is defined on devices separate from the robot (3.1) for later entry into the robot controller (3.4)

pose-to-pose control

PTP control

control procedure whereby the task programmer (3.12) can only impose that the robot (3.1) pass by the command poses (5.5.1) without fixing the path (5.5.4) to be followed between the poses (5.5)

continuous path control

CP control

control procedure whereby the programmer can impose on the robot (3.1) the path (5.5.4) to be followed between command poses (5.5.1)

trajectory control

continuous path control (6.7) with a programmed velocity profile

leader-follower control

control method where the motion of a primary device (leader) is reproduced on secondary devices (followers)

Note 1 to entry: Leader-follower control is typically used for teleoperation (6.17).

sensory control

control scheme whereby the robot (3.1) motion or force is adjusted in accordance with outputs of exteroceptive sensors (8.11)

trajectory planning

process by which the robot (3.1)control program (6.2) determines how to move the joints (4.7) of the mechanical structure between the command poses (5.5.1), according to the type of control procedure chosen

compliance

flexible behaviour of a robot (3.1) or any associated tool in response to external forces exerted on it

Note 1 to entry: When the behaviour is independent of sensory feedback, it is passive compliance; if not, it is active compliance.

operating mode

operational mode

characterization of the way and the extent to which the operator (3.11) intervenes in the control equipment

Note 1 to entry: In the context of this standard, mode refers to the control state of the robot (3.1), e.g. automatic, manual, other.

manual mode

operating mode (6.13) that allows direct control by an operator

Note 1 to entry: Sometimes referred to as teach mode where program points and robot attributes are set.

automatic mode

automatic operation

operating mode (6.13) that allows execution of programmed tasks

semi-autonomous mode

operating mode (6.13) in which motions are determined by combination of the autonomous task program (6.1) and manual user inputs given at the same time

Note 1 to entry: In this operating mode, the manual user input can override the autonomous task program (e.g. for steering) or the autonomous task program can override manual user input (e.g. for collision avoidance).

autonomous mode

operating mode (6.13) in which the robot (3.1) function accomplishes its assigned mission without direct human intervention

EXAMPLE A service robot (3.7) waiting for an interaction (a command).

stop-point

command pose (5.5.1) (taught or programmed) attained by the axes (5.3) of the robot (3.1) with a velocity command equal to zero and no deviation in positioning

fly-by point

via point

command pose (5.5.1) (taught or programmed) attained by the axes (5.3) of the robot (3.1) with some deviation, the amount of which depends on the joining profile of the axis velocity to this pose (5.5) and a specified criterion of passage (velocity, deviation in pose)

pendant

teach pendant

hand-held unit linked to the control system (3.4) with which a robot (3.1) can be programmed or moved

teleoperation

real-time control of motion of robot (3.1) from a remote site by a human

EXAMPLE Robotic operations of bomb disposal, space station assembly, underwater inspection and surgery.

user interface

means for information and action exchanges between human and robot (3.1) during human–robot interaction (3.15)

EXAMPLE Microphone, speaker, graphic user interface, joysticks, haptic devices.

robot language

programming language used for describing the task program (6.1)

simultaneous motion

motion of two or more robots (3.1) at the same time under the control of a single control station and which can be coordinated or synchronized with common mathematical correlation

Note 1 to entry: An example of a single control station is a teach pendant (6.16).

Note 2 to entry: Coordination can be done as leader-follower.

limiting device

means that reduces the range of motion of a robot (3.1) to a subset of the maximum space (5.13.1)by stopping, or causing to stop, all robot motion

program verification

execution of a task program (6.1) for the purpose of confirming the robot path (5.5.4) and process performance

Note 1 to entry: Program verification can include the total path traced by the tool centre point (5.15) during the execution of a task program (6.1) or a segment of the path. The instructions can be executed in a single instruction or continuous instruction sequence. Program verification is used in new applications and in fine-tuning/editing of existing ones.

safeguarding

protective measure using safeguards to protect persons from the hazards which cannot reasonably be eliminated or risks which cannot be sufficiently reduced by inherently safe design measures

protective stop

type of interruption of operation that allows a cessation of motion for safeguarding (6.23) purposes and which retains the program logic to facilitate a restart

safety-rated

characterized by having a prescribed safety function with a specified safety-related performance

EXAMPLE Safety-rated reduced speed; safety-rated monitored speed; safety-rated output.

single point of control

ability to operate the robot (3.1) such that initiation of robot motion is only possible from one source of control and cannot be overridden from another initiation source

reduced speed

safety function that limits the speed to be no greater than the designated speed

Note 1 to entry: The designated speed is 250 mm/s for manipulators.

normal operating conditions

range of environmental conditions and other parameters within which the robot (3.1) is expected to perform as specified by the manufacturer

Note 1 to entry: Environmental conditions include temperature and humidity.

Note 2 to entry: Other parameters include electrical supply instability and electromagnetic fields.

load

force, torque or both at the mechanical interface (4.10) or mobile platform (4.15) which can be exerted along the various directions of motion under specified conditions of velocity and acceleration

Note 1 to entry: The load is a function of mass, moment of inertia, and static and dynamic forces supported by the robot (3.1).

rated load

maximum load (7.2) that can be applied to the mechanical interface (4.10) or mobile platform (4.15) in normal operating conditions (7.1) without degradation of any performance specification

Note 1 to entry: The rated load includes the inertial effects of the end-effector (4.11), accessories and workpiece, where applicable.

limiting load

maximum load (7.2) stated by the manufacturer that can be applied to the mechanical interface (4.10) or mobile platform (4.15) without any damage or failure to the robot (3.1) mechanism under restricted operating conditions

additional load

additional mass

load (7.2) that can be carried by the robot (3.1), in addition to the rated load (7.2.1), yet is not applied at the mechanical interface (4.10) but somewhere else on the manipulator (4.13), generally, on the arm (4.2)

maximum force

maximum thrust

force (thrust), excluding any inertial effect, that can be continuously applied to the mechanical interface (4.10) or mobile platform (4.15) without causing any permanent damage to the robot (3.1) mechanism

individual joint velocity

individual axis velocity

velocity of a specified point resulting from the movement of one individual joint (4.7)

path velocity

change of position per unit time along the path (5.5.4)

pose accuracy

unidirectional pose accuracy

difference between a command pose (5.5.1) and the mean of the attained poses (5.5.2) when visiting the command pose from the same direction

pose repeatability

unidirectional pose repeatability

closeness of agreement among the attained poses (5.5.2) for the same command pose (5.5.1) repeated from the same direction

multidirectional pose accuracy variation

maximum distance between the mean attained poses (5.5.2) achieved when visiting the same command pose (5.5.1) multiple times from three perpendicular directions

distance accuracy

difference between a command distance and the mean of the attained distances

resolution

smallest increment of movement that can be attained by each axis (5.3) or joint (4.7) of the robot (3.1)

environment map

environment model

map or model that describes environment with its distinguishable features

EXAMPLE Grid map, geometrical map, topological map, semantic map.

localization

recognizing pose (5.5) of mobile robot (4.14), or identifying it on the environment map (8.1)

landmark

artificial or natural object identifiable on the environment map (8.1) used for localization (8.2) of the mobile robot (4.14)

obstacle

static or moving object or feature (on ground, wall or ceiling) that obstructs the intended movement

Note 1 to entry: Ground obstacles include steps, holes and uneven terrain.

mapping

map building

map generation

constructing the environment map (8.1) to describe the environment with its geometrical and detectable features, landmarks (8.3) and obstacles (8.4)

navigation

process which includes path planning, localization (8.2), mapping (8.5), and providing the direction of travel

Note 1 to entry: Navigation can include path (5.5.4) planning for pose-to-pose travel and complete area coverage.

travel surface

terrain on which the mobile robot (4.14) travels

dead reckoning

method of obtaining the pose (5.5) of a mobile robot (4.14) using the internal state sensor (8.10) to provide information relating to direction and distance from a known pose

task planning

process of solving the task to be carried out by generating a task procedure which includes subtasks and motions

Note 1 to entry: Task planning can include autonomous and user-generated task planning.

proprioceptive sensor

internal state sensor

robot sensor intended to measure the internal state(s) of a robot (3.1)

EXAMPLE Encoder; potentiometer; tachometer generator; inertial sensor such as accelerometer and gyroscope.

exteroceptive sensor

external state sensor

robot sensor intended to measure the states of a robot's environment or interaction of the robot (3.1) with its environment

EXAMPLE GPS; vision sensor; distance sensor; force sensor; tactile sensor; acoustic sensor.

haptic device

device that receives and provides tactile and kinaesthetic sensations

component

part of something that is discrete and identifiable with respect to combining with other parts to produce something larger

Note 1 to entry: Component can be either software or hardware. A component that is mainly software or hardware can be referred to as a software or a hardware component respectively.

Note 2 to entry: Component does not need to have any special properties regarding modularity (9.2).

Note 3 to entry: A module (9.3) is a component whereas a component does not need to be a module.

modularity

set of characteristics which allow systems to be separated into discrete modules (9.3) and recombined

module

component (9.1) or assembly of components with defined interfaces accompanied with property profiles to facilitate system design, integration, interoperability, and re-use

Note 1 to entry: A module may have both hardware and software aspects. It may consist of other components (hardware and software) or other module (hardware and software).

Note 2 to entry: This neither requires nor prevents the use of open source software to implement parts or all of the open module’s functionalities.

1. 
   (informative)
   
   Examples of types of mechanical structure

Figure A.1 — Rectangular or Cartesian robot: gantry robot

Figure A.2 — Cylindrical robot

Figure A.3 — Polar robot (spherical robot)

Figure A.4 — Pendular robot

Figure A.5 — Articulated robot

Figure A.6 — SCARA robot

Figure A.7 — Wheeled robot

Figure A.8 — Legged robot

Figure A.9 — Humanoid robot

Figure A.10 — Tracked robot

Bibliography

[1] IEC/TR 60601-4-1:2017, Medical electrical equipment — Part 4-1: Guidance and interpretation — Medical electrical equipment and medical electrical systems employing a degree of autonomy

[2] ISO 10218-2:2025, Robotics — Safety requirements — Part 2: Industrial robot applications and robot cells

[3] ISO 9000:2015, Quality management systems — Fundamentals and vocabulary

[4] ISO 9409-1:2004, Manipulating industrial robots — Mechanical interfaces — Part 1: Plates

[5] ISO 9409-2:2002, Manipulating industrial robots — Mechanical interfaces — Part 2: Shafts

Index

A

actuator 4.1

additional load 7.2.3

additional mass 7.2.3

alignment pose 5.5.3

arm 4.2

articulated robot 4.13.5

attained pose 5.5.2

automatic mode 6.13.2

automatic operation 6.13.2

autonomous mode 6.13.4

autonomy 3.2

axis 5.3

B

base 4.8

base coordinate system 5.8

base mounting surface 4.9

biped robot 4.14.3

C

Cartesian robot 4.13.1

collaboration 3.13

command pose 5.5.1

compliance 6.12

component 9.1

configuration 4.5

continuous path control 6.7

control program 6.2

control system 3.4

CP control 6.7

cylindrical robot 4.13.2

D

dead reckoning 8.8

degree of freedom 5.4

distance accuracy 7.8

DOF 5.4

E

end-effector 4.11

environment map 8.1

environment model 8.1

external state sensor 8.11

exteroceptive sensor 8.11

F

fly-by point 6.15

forward kinematics 5.1

G

gripper 4.12

H

haptic device 8.12

HRI 3.15

humanoid robot 4.14.5

human–robot interaction 3.15

I

individual axis velocity 7.3

individual joint velocity 7.3

industrial robot 3.6

industrial robot system 3.9

internal state sensor 8.10

inverse kinematics 5.2

J

joint 4.7

joint coordinate system 5.10

L

landmark 8.3

leader-follower control 6.9

leg 4.4

legged robot 4.14.2

limiting device 6.21

limiting load 7.2.2

link 4.6

load 7.2

localization 8.2

M

manipulator 4.13

manual mode 6.13.1

map building 8.5

map generation 8.5

mapping 8.5

maximum force 7.2.4

maximum space 5.13.1

maximum thrust 7.2.4

mechanical interface 4.10

mechanical interface coordinate system 5.9

medical robot 3.8

mobile manipulator 4.17

mobile platform 4.15

mobile platform coordinate system 5.12

mobile platform origin 5.17

mobile platform reference point 5.17

mobile robot 4.14

modularity 9.2

module 9.3

multidirectional pose accuracy variation 7.7

N

navigation 8.6

normal operating conditions 7.1

O

obstacle 8.4

off-line programming 6.5

operating mode 6.13

operating space 5.13.3

operational mode 6.13

operational space 5.13.3

operator 3.11

P

parallel link robot 4.13.7

parallel robot 4.13.7

path 5.5.4

path velocity 7.4

pendant 6.16

pendular robot 4.13.4

polar robot 4.13.3

pose 5.5

pose accuracy 7.5

pose repeatability 7.6

pose-to-pose control 6.6

primary axes 4.2

prismatic joint 4.7.1

program verification 6.22

programmed pose 5.5.1

programming 6.3

proprioceptive sensor 8.10

protective stop 6.24

PTP control 6.6

R

rated load 7.2.1

rectangular robot 4.13.1

reduced speed 6.27

resolution 7.9

restricted space 5.13.2

revolute joint 4.7.2

robot 3.1

robot actuator 4.1

robot controller 3.4

robot cooperation 3.14

robot language 6.19

robotic arm 4.2

robotic device 3.5

robotic leg 4.4

robotic technology 3.3

robotic wrist 4.3

robotics 3.10

rotary joint 4.7.2

S

safeguarded space 5.13.5

safeguarding 6.23

safety-rated 6.25

SCARA robot 4.13.6

secondary axes 4.3

semi-autonomous mode 6.13.3

sensory control 6.10

service robot 3.7

simultaneous motion 6.20

single point of control 6.26

singularity 5.18

sliding joint 4.7.1

space 5.13

spherical robot 4.13.3

stop-point 6.14

T

task planning 8.9

task program 6.1

task programmer 3.12

task programming 6.3

TCP 5.15

TCS 5.11

teach pendant 6.16

teach programming 6.4

teleoperation 6.17

tool centre point 5.15

tool coordinate system 5.11

tracked robot 4.14.4

trajectory 5.6

trajectory control 6.8

trajectory planning 6.11

travel surface 8.7

U

unidirectional pose accuracy 7.5

unidirectional pose repeatability 7.6

user interface 6.18

V

validation 3.16

verification 3.17

via point 6.15

W

wearable robot 4.16

wheeled robot 4.14.1

working space 5.13.4

world coordinate system 5.7

wrist 4.3

wrist centre point 5.16

wrist origin 5.16

wrist reference point 5.16

Z

zone 5.14