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5K views30 pagesRobotic Sensors
The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and
materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting.
Since contacting sensors must touch their environment to operatc, their use is limited to objects and conditions that can do no harm to the sensors. For instance, the elastic limit of a deformable sensor must not be exceeded: also, a material such as hot steel would be extremely difficult to measure using contact sensors.
Contact devices vary in sensitivity and complexity. Some can only determine whether something is touching or not, while others accurately measure the pressure of the contact. The most simple contact sensor is merely a mechanical switch. The more sophisticated devices can produce a three dimensional profile of an object.
Non contacting sensors gather information without touching an object. They can be used in environments where contact sensors would be damaged since they can sense most materials, including liquid, powder, and smoke; and they can measure many parameters, including velocity, position, and orientation. Simple
non contact sensors merely determine whether something is present or not.
More complicated devices can be used to distinguish between objects and work pieces. Through special techniques, data for a three dimensional profile of an object can be obtained as with tactile sensing.
When considering sensor technologies for the robot, the operation environment must be considered. The robot is intended to operate indoors, on conventional carpeted floors. The obstacles encountered will primarily be either furniture, features of architecture, and people. The first two types can be assumed to be stationary, whereas people are likely to move around, and may provide fluctuating sensor returns. It is expected that the Vision System will be able to differentiate between people and non-living objects.
Robotic devices – limited to the structured environment of manufacturing plants until few years ago – are slowly making way into human life, which has led to the emergence of interaction and learning issues in robots. Such issues are important for future robot to be able to learn autonomously and to interact safely with the environment i.e. without causing any harm to it or to the objects with which it is interacting. In this context, it becomes important to study the ways and means of robot’s interaction with the environment.
Humans interact and explore the environment through five main sense modalities viz. touch, vision, hearing, olfaction and taste. Loss of any of these modalities will result in the incomplete information about the environment. Irrespective of their importance with respect to each other, the study of their individual contribution in collecting information from environment is important for improving the sensing capabilities of any future robotic system.
The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting.
Robotics has matured as a system integration engineering field defined by M. Bradley as “the intelligent connection of the perception to action”. Programmable robot manipulators provide th
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50% found this document useful (4 votes)
5K views30 pagesRobotic Sensors
The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and
materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting.
Since contacting sensors must touch their environment to operatc, their use is limited to objects and conditions that can do no harm to the sensors. For instance, the elastic limit of a deformable sensor must not be exceeded: also, a material such as hot steel would be extremely difficult to measure using contact sensors.
Contact devices vary in sensitivity and complexity. Some can only determine whether something is touching or not, while others accurately measure the pressure of the contact. The most simple contact sensor is merely a mechanical switch. The more sophisticated devices can produce a three dimensional profile of an object.
Non contacting sensors gather information without touching an object. They can be used in environments where contact sensors would be damaged since they can sense most materials, including liquid, powder, and smoke; and they can measure many parameters, including velocity, position, and orientation. Simple
non contact sensors merely determine whether something is present or not.
More complicated devices can be used to distinguish between objects and work pieces. Through special techniques, data for a three dimensional profile of an object can be obtained as with tactile sensing.
When considering sensor technologies for the robot, the operation environment must be considered. The robot is intended to operate indoors, on conventional carpeted floors. The obstacles encountered will primarily be either furniture, features of architecture, and people. The first two types can be assumed to be stationary, whereas people are likely to move around, and may provide fluctuating sensor returns. It is expected that the Vision System will be able to differentiate between people and non-living objects.
Robotic devices – limited to the structured environment of manufacturing plants until few years ago – are slowly making way into human life, which has led to the emergence of interaction and learning issues in robots. Such issues are important for future robot to be able to learn autonomously and to interact safely with the environment i.e. without causing any harm to it or to the objects with which it is interacting. In this context, it becomes important to study the ways and means of robot’s interaction with the environment.
Humans interact and explore the environment through five main sense modalities viz. touch, vision, hearing, olfaction and taste. Loss of any of these modalities will result in the incomplete information about the environment. Irrespective of their importance with respect to each other, the study of their individual contribution in collecting information from environment is important for improving the sensing capabilities of any future robotic system.
The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting.
Robotics has matured as a system integration engineering field defined by M. Bradley as “the intelligent connection of the perception to action”. Programmable robot manipulators provide th
Uploaded by
manojCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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