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VDA5050 / VDA5050

Official Specification document for the VDA 5050
https://www.vda.de/en/search#%225050%22
MIT License
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Fix "TEACHIN" -> "TEACHING"? #86

Open madmage opened 2 years ago

madmage commented 2 years ago

One of the operating modes is called TEACHIN, shouln't it be TEACHING?

AntonDueck commented 2 years ago

this is a commen term https://link.springer.com/chapter/10.1007/978-3-642-69298-7_15

madmage commented 2 years ago

I am afraid it is a German-only term: https://de.wikipedia.org/wiki/Teach-in_(Technik)

https://www.google.com/search?q=teach-in+robot

If you really want to keep it, I would advise to use TEACH_IN or TEACH-IN to avoid questions like this in the future.

AntonDueck commented 2 years ago

im previous Versions it was "THEACH-IN" but this name is realy hard for programmers, so there was a desition to change it for TEACHIN, otherwise you have to write SEMI_AUTOMATIC to keep the scheme. Here the old documet: image

Pythocrates commented 2 years ago

While I disagree with SEMI_AUTOMATIC (because Merriam-Webster and Cambridge Dictionary both spell it "semiautomatic"), it would definitely apply to CONNECTIONBROKEN and AUTOACK. But IMO it should be done in a pragmatic way as long as it is consistent throughout the document (as is the current state).

What I would rather like to question is why there is a mode for teach-in at all (and not, e.g. a more general MAPPING). In the description it says that "mapping is done by a master control". Is the kind of mapping relevant? And what about autonomously executed mapping?

madmage commented 2 years ago

I think that a teach-in is intended to be more general than mapping: the meaning given by Wikipedia.DE (and the two books listed in this page) https://de.wikipedia.org/wiki/Teach-in_(Technik) is something more related to learning trajectories (for manipulators) by supervised learning, while the meaning in the VDA5050 document is related to mapping "The AGV is being taught, e.g., mapping is done by a master control." I guess then that this mode is for whatever the robot needs to learn, being a map or a trajectory or the positions of the items to manipulate. I agree that the sentence "mapping is done by a master control" should be clarified.

madmage commented 2 years ago

Anyway, the decision on words is just up to what kind of audience is expected. For English speakers I guess TEACHIN would sound funny (and if it is intended, it's fine): image (from Merriam-Webster)

MichaelGrupp commented 2 years ago

+1 for name and documentation clarification. Just from reading the document, it's unclear to me why there is both a service and a "teachin" mode. From the description of the current revision https://github.com/VDA5050/VDA5050/commit/8937761c332ec322892631773c8d51a0a9626cc9 :

SERVICE TEACHIN
Master control is not in control of the AGV.
Master control doesn’t send driving order or actions to the AGV.
Authorized personal can reconfigure the AGV.		 Master control is not in control of the AGV.
Supervisor doesn’t send driving order or actions to the AGV.
The AGV is being taught, e.g., mapping is done by a master control.
Tirine commented 2 years ago

I ran into this now as well, and I got quite confused and started searching here.. I agree with everyone above, if it's English, it's 'teaching', but I'm just gonna add another recommendation then, to reduce confusion: 'TEACH'. Also, I found 'Teach mode' is used by other AGV companies: https://www.navitecsystems.com/products/navithor-fleet-control/

the meaning given by Wikipedia.DE (and the two books listed in this page) https://de.wikipedia.org/wiki/Teach-in_(Technik) is something more related to learning trajectories (for manipulators)

And with this, with manipulators, it's definitely 'teaching mode' in English. (EDIT: Or 'teach mode'.. ) UR Script Manual: see 13.1.43. teach_mode(), onpage 42 Most commonly known as 'freedrive mode', 'teaching mode' before they changed it, and therefore deprecated there. Kinova Robotics, mainly call it "Admittance mode', but even they have a mode where you can teach several positions during admittance mode, called Teaching mode, page 51 Though with Franka it's called Guiding mode.