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Symbols, Precautions & Definitions

Please read this manual carefully before using HARP. Keep this manual available for future reference.

For technical support, visit haply.co to access our contact form and additional support resources.

Symbols​

In this manual, the following symbols alert you to important safety and usage messages. Be sure to read these carefully:

DANGER

Indicates a hazardous situation which, if not avoided, will result in serious injury or death.

WARNING

Indicates a hazardous situation which, if not avoided, could result in serious injury or death.

CAUTION

Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.

NOTICE

Indicates a situation which, if not avoided, could result in product or property damage.

NOTE

Provides additional information or clarification that helps you use HARP effectively. It does not indicate a hazard.

Precautions​

  1. Unauthorized reproduction of this documentation, in whole or in part, is prohibited.
  2. The contents of this documentation may be changed or improved without prior notice.
  3. Extensive effort has been made to ensure that the contents of this documentation are as complete and accurate as possible. If you discover any errors or have questions, please contact Haply Robotics.
  4. Regardless of item 3, Haply Robotics will not be liable for any effects resulting from the use of this product.
  5. Where this documentation conflicts with safety requirements in the robot manufacturer’s documentation or local regulations, those documents take precedence.

Definitions​

  • HARP: Human Advanced Robotics Platform.

  • Leader: An input device that provides position, orientation, or other control data used to command one or more follower devices.

  • Follower: A robotic device that receives commands from a leader during teleoperation or executes commands from recorded playback data.

  • Teleoperation: A control method in which a human operator controls a robot remotely and in real time through a leader device.

  • Clutch: A software function that temporarily decouples the leader from the follower, allowing the operator to reposition the leader without commanding corresponding robot motion.

  • End Effector: A device mounted at the end of a robotic arm that interacts with the environment, such as a gripper, tool, or sensor.

  • Robot Flange: The mechanical mounting interface at the end of a robotic arm where an end effector, tool, sensor, or adapter can be attached.

  • TCP: In robotics, TCP stands for Tool Center Point, which is the exact, defined reference point on a robot's end effector where the tool interacts with the world.

  • Macro: A recorded sequence of robot motion or commands that can be executed automatically through HARP.

  • Recording: The process of capturing follower device data during a HARP recording session. Recordings are saved in the .hrpr file format.

  • Playback: The execution of previously recorded follower motion data stored in an HARP .hrpr file.

  • Scaled Navigation: A teleoperation mode in which follower motion corresponds proportionally to leader motion. The motion scale can be configured for 1:1 control or adjusted to produce smaller or larger follower movements relative to the leader input.

  • Workspace: The three-dimensional operating environment represented in HARP, including the robot's reachable area, configured work-zone limits, and virtual collision or exclusion objects.

  • Safety Controller: A dedicated safety device used in industrial automation to monitor safety-related inputs and place connected machinery into an appropriate safe state when a hazardous condition or fault is detected.

  • Home Pose: A user-configurable robot pose that can be defined as a reference or return position within HARP.

  • Bubble Navigation: A teleoperation mode that combines position-based scaled control with velocity-based motion. It enables the operator to navigate larger workspaces with reduced clutching while maintaining precise control for smaller movements.

  • Damping: A haptic effect that applies a force opposing motion to reduce oscillation and improve stability during teleoperation.