Robot pendant control

PEL permissible exposure limit OSHA limit for employee exposure to chemicals (29 CFR 1910.1000) based on a time-weighted average of hours for a 40-hour work week Pendant any portable control device, including teach pendants, that permits an operator to control the robot from within the restricted envelope space of a robot Pendant control a means used by either the patient or the operator to control the drives that activate various bed functions attached to the bed by a cord Penetrating radiation any radiation that can penetrate the skin and reach internal organs and tissues... 

Pendant Control A pendant control may also help safeguard workers involved with robots. A pendant control is a moveable control rather than one at a fixed location. A pendant control allows an operator to operate a machine... 

Figure 1. The Zymate (Zymark Corp., Hopkinton, MA) showing the main robot module (center) with universal wrist and "gripper" hand attached. In the upper right is the controller with programming keyboard and soft keys (right hand side of display screen). The soft keys can be duplicated in a "teach/learn" pendant (not shown).

Figure 2. The Alpha (Microbot Inc., Mountainview, CA) showing teaching pendant (lower left), robot with gripper attached (alternate grippers in front center), system controller and operator control module (lower right). Note how wrist can both rotate and bend.

Pendant—Any portable control device, including teach pendants, that permits an operator to control the robot from within the restricted envelope space of a robot. 

Due to limitations on the number of keys that can be provided on the teach pendant and it s size, teach pendants do not have as much functional control on the robot as a keyboard. However they provide the programmer a means of operating and programming the robot from different locations around the work envelope as may be necessary. The controls on a teach pendant can be functionally classified into following groups. 

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