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Unit-II Lecture 6 and 7

The document covers robotic sensors, actuators, and end effectors, detailing the definitions and classifications of sensors, including internal and external types. It explains the role of transducers and provides examples of various sensors such as position, proximity, and vision sensors. Additionally, it discusses the importance of sensors in robotics for monitoring and controlling robot operations.

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Garima Kodkani
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18 views25 pages

Unit-II Lecture 6 and 7

The document covers robotic sensors, actuators, and end effectors, detailing the definitions and classifications of sensors, including internal and external types. It explains the role of transducers and provides examples of various sensors such as position, proximity, and vision sensors. Additionally, it discusses the importance of sensors in robotics for monitoring and controlling robot operations.

Uploaded by

Garima Kodkani
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 25

T.Y.

E&TC Robotics
Unit-II

Robotic Sensors, Actuators


and End Effectors
Lecture 7 and 8

1 Unit-II 05/28/2025
Unit-II Robotic Sensors,
Actuators and End Effectors
1. Robotic Sensors
Definition of Sensor
Classification of sensors,
Internal and external sensors,
Position, acceleration sensors, proximity,
Velocity sensors,,
Tactile and slip sensors,
Measurement of forces touch sensor,
Camera and robot vision

2 Unit-II 05/28/2025
1. Robotic Sensors
WHAT IS TRANSDUCER
 The transducer is defined as the device which convert the one
form of energy into another form of the energy
Such as: Mechanical, Thermal, Electromagnetic,
Optical, Chemical, etc

 The conversion of energy from one form to another is known as


Transduction

Example:
 Temperature transducers(RTD)

 Displacement Transducers

 Strain Gauge

3 Unit-II 05/28/2025
1. Robotic Sensors
WHAT IS SENSOR
 A sensor is a device which detects one form of energy and
converts the data to electrical energy
OR
A sensor is a device which detects a physical quantity and
produces an electric signal based on the strength of the
quantity measured.

Example:
•Proximity
sensor
• Magnetic
sensor
•Accelerometer
4 sensor
Unit-II 05/28/2025
Why Robot Required
Sensors?

5 Unit-II 05/28/2025
Sensor
Classification
The major capabilities required by a robot are as follows:

1. Simple Touch: the presence or absence of an object.


2. Traction or Complex Touch: The presence of an object plus
some information on its size and shape.
3. Simple Force: Measured force along a single axis.
4. Complex Force: Measured force along two or more axes.
5. Proximity: Non-contact detection of an object.
6. Simple Vision: Detection of edges, Hole, Corner, and so on.
7. Complex Vision: Recognition of shape
6 Unit-II 05/28/2025
1. Robotic Sensors
There are generally two categories of sensors
used in robotics.
1. Internal Sensors
2. External Sensors.

Internal sensors are used to monitor and control


the various joints of the robot. They form a
feedback control loop with the robot controller.
Internal sensors are used to measure the internal
state of a robot
i.e. Position
Velocity
Acceleration etc.
Examples of internal sensors include
7
potentiometers
Unit-II and optical encoders, while 05/28/2025
tachometers of various types are deployed to
1. Robotic Sensors
External sensors are external to the robot itself, and are used
when we wish to control the operations of the robot.

 External sensors are 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.

8 Unit-II 05/28/2025
9 Unit-II 05/28/2025
1. Robotic Sensors
Internal Sensor
1. Position Sensors
• Position sensors measured the position of each joint i.e. the
joint angle of a robot.

• From this joint angles, one can find the end effectors
configuration
i.e. its position and orientation

Types of Position Sensors:


1.Encoder
2. Potentiometer
3. LVDT
4. Synchros and Resolvers
10 Unit-II 05/28/2025
1. Robotic Sensors
Internal Sensor
1. Position Sensors
a. Encoders
 Encoder is a digital optical device that convert motion into a
sequence of Digital pulses.
 By counting a single bit or by decoding a set of bits, the pulses
can be converted to relative or absolute measurements.

Types of encoders:
i) Incremental Linear Encoder
ii) Absolute Linear Encoder
iii) Incremental Rotary Encoder
iv) Absolute Rotary Encoder
11 Unit-II 05/28/2025
i) Incremental Linear Encoder

12 Unit-II 05/28/2025
i) Incremental Linear Encoder with two sensor

Lecture 7 starts

13 Unit-II 05/28/2025
ii) Absolute Linear Encoder

14 Unit-II 05/28/2025
Absolute Linear Encoder

15 Unit-II 05/28/2025
iii) Incremental Rotary Encoder

16 Unit-II 05/28/2025
Incremental Rotary Encoder

17 Unit-II 05/28/2025
Incremental Rotary Encoder

18 Unit-II 05/28/2025
Incremental Rotary Encoder

19 Unit-II 05/28/2025
iv) Absolute Rotary Encoder

Absolute Rotary
Encoders are of two
types
1. Binary code
2. Gray code

20 Unit-II 05/28/2025
Absolute
Encoder

21 Unit-II 05/28/2025
Absolute
Encoder

22 Unit-II 05/28/2025
2. Potentiometer

23 Unit-II 05/28/2025
3. LVDT and RVDT
LVDT is one the most used displacement transducer, because of higher accuracy.
It has two identical secondary coils and one primary coil.
It generate AC signal whose magnitude is related displacement of a moving
core.
As the core change its position with respect to the coil, it change the magnetic
field, and hence voltage amplitude in the secondary coil changes as liner
function
of core displacement over a considerable segment.

24 Unit-II 05/28/2025
25 Unit-II 05/28/2025

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