Robotics Industry Glossary
J
Jacobian Matrix
A matrix that relates joint velocities to end-effector velocities, used in control and singularity analysis.
Jacobian Transpose
A simplified method for inverse kinematics and force control that uses the transpose of the Jacobian matrix instead of its inverse.
Jamming
A phenomenon in granular or flexible grippers where particles or layers lock together under pressure to grip objects conformably.
Jetson
NVIDIA’s line of embedded AI computing modules widely used in autonomous robots for deep learning inference and sensor processing.
Jig
A custom fixture that holds workpieces in precise alignment for robotic manufacturing, assembly, or inspection.
Joint
A connection between two robot links that allows relative motion, classified as revolute (rotational), prismatic (linear), or other types.
Joint Angle
The angular position of a revolute joint, one of the primary controlled variables in articulated robots.
Joint Compliance
The ability of a robot joint to accommodate external forces through passive (spring) or active (control) means.
Joint Coordinate System
A coordinate frame attached to a specific joint, used for describing local motion and forces.
Joint Limit
The maximum and minimum range of motion for each robot joint, set by mechanical design and safety requirements.
Joint Space
The space defined by all possible values of a robot’s joint variables, as opposed to task space or Cartesian space.
Joint Trajectory
A time-parameterized sequence of joint positions, velocities, and accelerations planned for smooth robot motion.
Joint Velocity
The rate of change of a joint’s position, a controlled variable in robot motion planning and execution.
Joystick
An input device used by a human operator to manually control robot motion in teleoperation and teach modes.
JPL (Jet Propulsion Laboratory)
NASA research center responsible for developing advanced robots for space exploration, including the Mars rovers.