Unit-v

Sensors in Robots
Sensor is used to measure some feature of the world, Such as light, sound, or pressure and convert that
measurement into electrical signals, usually a voltage or current.
The output of given sensor can easily be converted into other electrical representations.
Sensing includes activities such as seeing, hearing, touching, smelling and measuring distance.

In other words, Sensors are devices for sensing and measuring geometric and physical properties of robots and
the surrounding environment

– Position, orientation, velocity, acceleration

– Distance, size

– Force, moment

– Temperature, luminance, weight

Robotic Sensors

Static Sensors Environmental Sensors

Force, Position, Velocity, Motion,Force,Torque
Acceleration touch,tactile

Contact Sensors Non Contact Sensors

Force, temperature, PH Vision, optical, range,
Chemical
 There are generally two categories of sensors used in robotics; these are for
internal purposes, and those for external purposes. Internal sensors are used to monitor
and control the various joints of the robot; they form a feedback control loop with the
robot controller. Examples of internal sensors include potentiometers and optical
encoders, while tachometers of various types can be deployed to control the speed of the
robot arm. External sensors are external to the robot itself, and are used when we wish
to controlthe operations of the robotwith other pieces of equipment in the robotic work
cell. External sensors can be relatively simple devices, such as limit switches that
determine whether a part has been positioned properly, or whether a part is ready to be
picked up from an unloading bay.
ROBOTIC SENSORS For certain robot application, the type of workstation
control using interlocks is not adequate the robot must take on more human like senses
and capabilities in order to perform the task in a satisfactory way these senses and
capability includes vision and hand eye coordination, touch, hearing accordingly we will
dived the types of sensors used in robotics into the following three categories.

A number of advanced sensor technologies may also be used; these are outlined in this table:
Advanced sensor technologies for robotics

Sensor Type Description

Used to determine whether contact is made between sensor and another

object. Two types: touch sensors—which indicate when contact is made, and
Tactile sensors
no more; and force sensors—which indicate the magnitude of the forcewith
the object.

Used to determine how close an object is to the sensor. Also called a range
Proximity sensors
sensor.

Photocells and other photometric devices that are used to detect the presence
Optical sensors or absence of objects. Often used in conjunction to proximity sensors.

Used in robotics for inspection, parts identification, guidance, and other

Machine vision
uses.

Miscellaneous category of sensors may also be used; including devices for

Others measuring: temperature, fluid pressure, fluid flow, electrical voltage,
current, and other physical properties.
 Tactile sensors

Tactile sensors provide the robot with the capability to respond to contact forces
between itself and other objects within its work volume. Tactile sensors can be divided into
two types:
1. Touch sensors
2. Stress sensors
Touch sensors are used simply to indicate whether contact has been made with an
object. A simple micro switch can serve the purpose of a touch sensor. Stress sensors are
used to measure the magnitude of the contact force. Strain gauge devices are typically
employed in force measuring sensors. Potential use of robots with tactile sensing capabilities
would be in assembly and inspection operations. In assembly, the robot could perform
delicate part alignment and joining operations. In inspection, touch sensing would be used
in gauging operations and dimensional measuring activities.

Proximity sensor
Proximity sensors are used to sense when one object is close to another object. On a
robot, the proximity sensors would be located n or near the end effectors. This sensing
capability can be engineered by means of optical proximity devices, eddy-current proximity
detectors, magnetic field sensors, or other devices. In robotics, proximity sensors might be
used to indicate the presence or absence of a work part or other object. They could also be
helpful in preventing injury to the robots human coworkers in the factory.

Proximity sensors
The simplest light-based obstacle sensor projects a light and looks for a reflection of
a certain strength. If the reflection is strong enough, it can be inferred that an obstacle lies within
a certain range of the sensor. Multiple light sources can be pulsed on in sequence to give some
resolution to the sensor as in the figures.
Position sensor
Position sensors measure the position of a joint (the degree to which the joint is extended). They
include:
• Encoder: a digital optical device that converts motion into a sequence of digital pulses.

• Potentiometer: a variable resistance device that expresses linear or angular displacements

in terms of voltage.

• Linear variable differential transformer: a displacement transducer that provides high

accuracy. It generates an AC signal whose magnitude is a function of the displacement
of a moving core.
• Synchronous and Resolvers

2.7.2 Velocity Sensor

A velocity or speed sensor measures consecutive position measurements at known

intervals andcomputes the time rate of change in the position values.

2.7.3 Touch, Force, Torque:

A tactile sensor is a device that measures information arising from physical interaction
with its environment. Tactile sensors are generally modeled after the biological sense of
coetaneous touch which is capable of detecting stimuli resulting from mechanical stimulation,
temperature, and pain (although pain sensing is not common in
 artificial tactile sensors). Tactile sensors are used in robotics, computer hardware and security systems. A
common application of tactile sensors is in touch screen devices on mobile phones and computing.
Tactile sensors may be of different types including piezoresistive, piezoelectric, capacitive and
elasto-resistive sensors
Force Sensors (Force Transducers) There are many types of force sensors, usually referred to as
torque cells (to measure torque) and load cells (to measure force).

Force transducers are devices useful in directly measuring torques and forces within your mechanical
system. In order to get the most benefit from a force transducer, you must have a basic understanding of
the technology, construction, and operation of this unique device. Forces can be measured by measuring
the deflection of an elastic element.
Strain gauges: Most common sensing elements of force. It converts the deformation to the change of

its resistance. Gauge resistance varies from 30 to 3K, corresponding to deformation from 30µm to 100 µm. Shaft torque
is measured with strain gauges mounted on a shaft with specially designed cross- section.

2.7.4 Position Measurement

• An optical encoder is to measure the rotational angle of a motor shaft.
• It consists of a light beam, a light detector, and a rotating disc with a radial grating on its surface.
• The grating consists of black lines separated by clear spaces. The widths of the lines and spaces are the same.
– Line: cut the beam and hence a low signal output
– Space: allow the beam to pass and hence a high signal output
• A train of pulses is generated with rotation of the disc.
By counting the pulses, it is possible to know the rotational angle.
 Integration of Robot Controller with Sensors
Sensors and actuators play crucial roles in enabling a robot to interact with its environment. Sensors provide the robot
with information about the surrounding world, while actuators allow the robot to perform physical actions based on
that information.

By integrating sensors and actuators, robots can perceive their environment, process the sensory information, and act
upon it. This interaction enables robots to perform various tasks autonomously or under human supervision,
depending on their capabilities and programming.

Importance of Sensor and Actuator Integration in Robotics

Effective sensor and actuator integration is crucial for creating sophisticated, responsive robotic systems. It enables:

• Enhanced Environmental Awareness: Robots can navigate complex, dynamic environments safely.

• Precise Manipulation: Enables handling of delicate components and complex tasks.

• Adaptive Behavior: Allows robots to adjust their actions based on varying conditions.

• Human-Robot Interaction: Facilitates safe and effective collaboration between robots and humans.

• Energy Efficiency: Optimizes robot movements and resource usage.

• Real-time Decision Making: Enables split-second decisions in complex scenarios.

• Predictive Maintenance: Allows robots to monitor their own performance and predict maintenance needs.

Integration is fundamental to the “sense-think-act” loop that defines robotic behavior. It’s what allows a robot to
perceive its environment (sense), process that information (think), and respond appropriately (act).