Vector: a quantity which possesses "magnitude" and "direction" and it can be represented by an arrow (having appropriate length and direction and emanating from some given reference point O).
Linear Equation: an expression of the form ax + by + cz = d where the variables (x, y, z) are always to the power of one.
Equation of the plane: a sort of linear equation that defines a unique plane in the 3-D space. The equation is written using the following form: ax + by + cz = d where a, b, c and d are the coefficients of the plane.
Robot: a "reprogrammable multifunctional manipulator" (Robot Institute of America). "Reprogrammable" in this definition means that a mechanical arm must be computer-controlled to qualify as a robot.
Accuracy: the degree to which a robot arm is able to move to a specific point in the work cell when the point coordinates are entered from an off-line programming station. The accuracy specification would describe how close the robot arm approximates the desired point.
Repeatability: the degree to which a robot system is able to return to a specific point in the work cell which was taught before. The repeatability specification describes how closely the robot arm reproduces the taught point on each cycle of the program execution.
TCP: Tool Center Point; the point of action for the tool to the robot tool plate.
Work envelope: the volume of space in which the arm can move (any parts or equipment within this volume can be reached by the robot gripper).