1		2									3																4
																												5
		6
																																		7			8
								9
10
11																									12
		13																								14
				15								16
											17										18
													19
			20
	21																																				22
				23																									24
																															25
																								26
							27																28								29
30																											31						32
										33
																																							34
														35
					36
37																							38
																		39																			40
			41
42											43																		44
																										45

Across 2. applications designed to allow engineering of objects 4. maximum permissible force acting on a body region 6. outward radial force 9. specifies the location of a point in two dimensional space 10. manipulator-arm degrees of freedom 11. defines a common reference point for a cell or application 12. detects the presence of an object 13. initiated by the control system 15. raised or at ground level along the X, Y, Z axes 16. The position or location of the tool control point 18. A robot that performs tasks 19. does not include the end-effector 20. normally arranged to be perpendicular to each other 23. Not popular in industry 25. A power mechanism used to effect motion, or maintain position of the robot 27. enable the robot to perform its intended task 28. received by the robot's controller system and is interpreted 30. allows translation and rotary motion 33. endpoint position of a robot motion 35. serves as a pneumatic hand 37. modules that determines what the received command means 38. A correction factor for established data 39. a start button 42. The study of motion 43. Primarily used for grasping parts and mating or fitting them together 44. perform a variety of different tasks 45. how safety related parts of the control system

Down 1. due to malfunction or failure 3. it uses the robot arm itself to measure the tool properties 4. arrangement of links created by a particular set of joint positions 5. he current position is within a predefined range. 7. causes all moving parts to stop 8. which instructions are communicated to the robot 9. the main circuit board and processor 11. stationary base structure of a robot arm that supports the first joint 14. See Point-to-Point 17. a robot testing procedure 18. monitor used to detect trajectory deviations 21. calculated path that the robot executes 22. feedback information 24. Displacement of a manipulator in response to a force or torque 26. The property of a system 29. complete set of moves and functions 31. information processing device 32. Being able to add resources to the system 34. measurement of the deviation between the command characteristic and the attained characteristic 35. rotating platform that delivers objects to a robot 36. achieve at the end of a path 40. judges the current position 41. stable platform