# Glossary (Robotics Module)

LabVIEW 2014 Robotics Module Help

Edition Date: June 2014

Part Number: 372983F-01

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LabVIEW Glossary

## A

A* A path planner algorithm of computer science to find a least-cost path through a static Occupancy Grid map.
accelerometer A device that measures the proper acceleration of the device. This is not necessarily the same as the coordinate acceleration (change of velocity of the device in space), but is rather the type of acceleration associated with the phenomenon of weight experienced by a test mass that resides in the frame of reference of the accelerometer device.
actuator A physical device that applies the control action to the plant.
AD* A dynamic path planner algorithm that plans a path from the initial location through a map to the goal you specify.

## C

CAD model A 3D description file for visualization of a robot, which typically includes the geometry, texture, and material information of the robot. The LabVIEW Robotics Module supports CAD model files with the extensions .ive, .dae, and .wrl.
component model A wheel model, track model, arm model, conveyor model, or a simple object that you can use to assemble a robot model.

## D

directed graph A graphic structure where each edge is directed. A edge is the link that connect some pairs of vertices.

## E

end effector An end effector is the end of the last link in a serial arm.

## G

gyroscope A device that measures the orientation.

## I

IMU Inertial measurement unit. A sensor that contains gyroscopes and accelerometers.

## J

Jacobian matrix A matrix where each element is the first-order partial derivative of a certain variable of a function with respect to another variable of a vector.

## L

link A link is the basic component of a serial arm, which is connected with joints.

## O

occupancy grid An evenly spaced grid map to represent the map of the robotic environment. Each cell of the grid has a cost value representing the possibility or presence of an obstacle at that location in the environment.

## P

posture The posture of a robot contains the position and orientation of the robot.

## Q

quaternion A four-dimensional number system to represent the homogenous transformation in the Euclidean space.

## R

robot model A software representation of a robot for use in a simulated environment. A robot model consists of component models and joints, which connect the component models.
rotation matrix A homogenous matrix to perform rotation transform in the Euclidean space.

## S

serial arm A serial arm consists of a base, a link or series of links connected at joints, and an end effector. The base is the first link in a serial arm, and the end effector is at the end of the last link in an arm.
steering frame A structure that contains the distribution and dimension information of the wheels that you use for steering control.

## V

vector field A map in which each vector represents a point to indicate location, orientation, and magnitude of the point in the Euclidean space.