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    Sensors Notes

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    vijkrsna
    The document discusses sensors for robotic systems. It describes transducers as devices that convert one physical variable into another, often an electrical signal. Sensors are transducers that make measurements. Sensors can be analog or digital. The main types of robotic sensors are internal state sensors that detect positions and velocities of joints, and external sensors that detect variables like proximity, range, and touch for robot guidance and object handling. Sensor characteristics include static properties like linearity and resolution, and dynamic properties like frequency response. Common internal sensors are encoders and tachometers for position and velocity, while external sensors include tactile sensors, force sensors, proximity sensors, and vision sensors.

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    Sensors Notes

    Uploaded by

    vijkrsna
    5K views4 pages
    The document discusses sensors for robotic systems. It describes transducers as devices that convert one physical variable into another, often an electrical signal. Sensors are transducers that make measurements. Sensors can be analog or digital. The main types of robotic sensors are internal state sensors that detect positions and velocities of joints, and external sensors that detect variables like proximity, range, and touch for robot guidance and object handling. Sensor characteristics include static properties like linearity and resolution, and dynamic properties like frequency response. Common internal sensors are encoders and tachometers for position and velocity, while external sensors include tactile sensors, force sensors, proximity sensors, and vision sensors.

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    The document discusses sensors for robotic systems. It describes transducers as devices that convert one physical variable into another, often an electrical signal. Sensors are transducers that make measurements. Sensors can be analog or digital. The main types of robotic sensors are internal state sensors that detect positions and velocities of joints, and external sensors that detect variables like proximity, range, and touch for robot guidance and object handling. Sensor characteristics include static properties like linearity and resolution, and dynamic properties like frequency response. Common internal sensors are encoders and tachometers for position and velocity, while external sensors include tactile sensors, force sensors, proximity sensors, and vision sensors.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    5K views4 pages

    Sensors Notes

    Uploaded by

    vijkrsna
    The document discusses sensors for robotic systems. It describes transducers as devices that convert one physical variable into another, often an electrical signal. Sensors are transducers that make measurements. Sensors can be analog or digital. The main types of robotic sensors are internal state sensors that detect positions and velocities of joints, and external sensors that detect variables like proximity, range, and touch for robot guidance and object handling. Sensor characteristics include static properties like linearity and resolution, and dynamic properties like frequency response. Common internal sensors are encoders and tachometers for position and velocity, while external sensors include tactile sensors, force sensors, proximity sensors, and vision sensors.

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    SENSORS FOR ROBOTIC SYSTEMS

    1.0 Transducers & Sensors

    A transducer is a device that converts one type of physical variable (e.g,


    force, pressure, temperature, velocity, flow rate, etc) into another form.

    A common conversion is to electrical voltage, and the reason for making the
    conversion is that the converted signal is more convenient to use and
    evaluate.

    A Sensor is a transducer that is used to make a measurement of a physical


    variable of interest. Any sensor or transducer requires calibration in order to
    be useful as a measuring device.

    Transducers and sensors can be classified into two basic types:


    - Analog transducers
    - Digital transducers

    - Analog transducers provide a continuous analog signal such as electrical


    voltage or current. This signal can then be interpreted as the value of the
    physical variable that is being measured.
    - Digital transducers produce a digital output signal either in the from of a
    set of parallel status bits or a series of pulses that can be counted. In either
    form, the digital signal represents the value of the measured variable.

    1.1 Main types of sensors

    The function of robot sensors may be divided into two principal categories:

    - Internal & External State Sensors.

    1
    - Internal State Sensors deal with the detection of variable such as the
    position and the rate of movement (velocity) of robot arm joints, which are
    used for control control.
    - External State sensors on the other hand deal with the detection of
    variables such as proximity, range and touch.
    External sensors are used for robot guidance as well as for object
    identification and handling (Vision and tactile sensors).

    External sensors can be further classified as Contact & Non Contact types.

    Contacting sensors respond to a physical contact such as touch, slip,


    force and torque.
    Non Contacting sensors rely on the response of a detector to variations
    in optical, accoustic or electromagnetic radiation.

    1.2 Sensor Characteristics

    These can be divided into Static and Dynamic characteristics.

    - Static: Linearity
    Hysteresis
    Resolution

    - Dynamic: Frequency Response


    Step Response

    1.3 Internal Sensors : - Position - Velocity

    1.3.1 Position Sensors : - Angular: - Tachometers


    - Incremental Encoders
    - Absolute (Shaft) Encoders

    - Linear: - Analog Resistive


    - Digital (encoded) types.

    2
    Absolute encoders are used in situations when :
    - the control system is subjected to frequent power shut down and the
    current positional information is to be retained.
    - frequent resetting of the robot arm positions is to be avoided such as
    high flexibility and reliability position sensing systems.

    Absolute encoders generally are limited to one single revolution.

    Analog Resistive sensors: linear insulator bar having a resistance wire


    wound on it.

    1.3.2 Velocity Sensors: - D.C Tachogenerators


    - Optical Incremental Encoders

    1.4 External Sensors


    External Sensors

    Contact Non-Contact

    Tactile Force/Torque Visual Proximity/Range

    1.4.1 Proximity Sensors

    Proximity Sensors

    Pneumatic Inductive Capacitive Optical Ultrasonic

    3
    (i) Pneumatic - known as Nozzle Flapper: Air is supplied and by moving a
    flapper in front of the nozzle the output pressure is varied.
    (ii) Inductive - based on the principle of change of inductance due to the
    presence of a ferromagnetic object.
    (iii) Hall effect - based on the principle of Lorenz force.
    (iv) Capacitive - can detect all objects made of electrically conductive
    materials.
    (v) Optical - narrow beam is produced by an L.E.D, and a lens. Reflected
    light on a photodiode depends on the distance of the object reflecting
    the light.
    (vi) Ultrasonic - sensor consists of a piezo crystal and microphones.

    1.4.2 Tactile Sensors:

    These are a generalised analog Touch Sensors since they measure forces at
    several points (in an array) at the contacting area between the robot’s gripper
    and the workpiece.

    Tactile Sensors

    Resistive Optical Magnetic Capacitive

    General requirements for tactile sensors are as follows:


    - Should provide an array of sensing elements at a density of 10*10 per
    square inch constructed on a compliant surface.
    - Each element should have a response time of 1 to 10 msec (step).
    - The elements must be stable, repeatable and have low hysteresis.
    - the threshold sensitivity for the elements should be about 1 grammes, with
    an upper limit of 1000 grammes.
    - the sensing material must be robust, capable of standing upto harsh
    industrial environments.

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