Page 67 - Concise Encyclopedia of Robotics

Compliance
such as probes and soldering irons. This is usually ensured by physically
connecting the technician’s body to a good electrical ground.
See also INTEGRATED CIRCUIT.
COMPLEX-MOTION PROGRAMMING
As machines become smarter, the programming gets more sophisticated.
No machine has yet been built that has intelligence anywhere near that of
a human being. Some researchers think that true artificial intelligence
(AI), at a level near that of the human brain, will never be achieved.
The programming of robots can be divided into levels, starting with
the least sophisticated and progressing to the theoretical level of true
AI. The drawing shows a four-level scheme. Level 2, just below the task
level but above the simple-motion level, is called complex-motion pro-
gramming. Robots at this level can perform sets of motions in defined
sequences. Compare ARTIFICIAL INTELLIGENCE, SIMPLE-MOTION PROGRAMMING, and
TASK-LEVEL PROGRAMMING.
Fourth level Artificial intelligence

Third level Tasks

Second level Complex motions

First level Simple motions

Complex-motion programming

COMPLIANCE
Compliance is the extent to which a robot end effector or manipulator
moves, or yields, when a force is applied to it. It can be expressed qualita-
tively (using terms such as “springy”or “rigid”) or quantitatively in terms
of displacement per unit force (such as millimeters per newton).
A robot is said to be compliant if its mechanical movements are af-
fected by external forces, including linear pressure or torque. The com-
pliance can occur along one, two, or three axes, or in a rotational sense.
Generally, a compliant robot should be adjusted so the behavior of its

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