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Lecture 4 Robotic Sensors

Sensors are essential for robots, providing them with the ability to perceive their environment through various types of measurements, such as light and sound. They are classified into exteroceptors (external sensors) and proprioceptors (internal sensors), with exteroceptors further divided into contact and non-contact sensors. Machine vision technology, which integrates imaging systems and computer analysis, is increasingly used in manufacturing for quality control and decision-making processes.

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4 views15 pages

Lecture 4 Robotic Sensors

Sensors are essential for robots, providing them with the ability to perceive their environment through various types of measurements, such as light and sound. They are classified into exteroceptors (external sensors) and proprioceptors (internal sensors), with exteroceptors further divided into contact and non-contact sensors. Machine vision technology, which integrates imaging systems and computer analysis, is increasingly used in manufacturing for quality control and decision-making processes.

Uploaded by

James Luhanga
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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ROBOTIC

SENSORS
Introduction to Sensors

 Sensors serve as a robot’s sight, hearing, touch, taste, and


smell. Without sensors, a robotic device would not be able
to discern anything about current surroundings. A signal is
returned from the sensor to the robot CPU and is applied to
the current situation or saved for later analysis. Without
sensors, a robot is just a machine. Sensors provide
feedback to the control systems and give the robots more
flexibility.
Introduction to Sensors
 The basic function of a sensor is to measure some feature
of the world, such as light, sound, or pressure and convert
that measurement into an electrical signal, usually a
voltage or current.
 Typicalsensors respond to stimuli by changing their
resistance (photocells), changing their current flow
(phototransistors), or changing their voltage output (the
sharp IR sensor). The electrical output of a given sensor
can easily be converted into other electrical
representations.
Classification of sensors

 Exteroceptorsor External Sensors (for the


measurement of robot’s environmental parameters).
 Proprioceptorsor Internal Sensors (for the
measurement of robots internal parameters)
Exteroceptors or External
Sensors
 Exteroceptors are sensors that measure the positional or
force-type interaction of the robot with its environment.
 These sensors are added to robots to perceive the world
in which they operate and interact with the environment
outside the robot.
 External sensors can be categorized as:
 Contact sensors
 Non contact sensors
Contact sensors

Most important types of robotic sensors of


contact type are:
 Tactile sensors
 Force sensors
Noncontact sensors
 These sensors are used to give the robot information about
the process or the environment without the use of physical
contact.
Noncontact sensors include:
 Pneumatic sensors, which detect part presence by air, flow
disturbance.
 Ultrasonic sensors that analyze sound waves reflected from
a part.
 Proximity sensors that register the approach, arrival, or
removal of parts.
 Optical sensors utilizing interrupted light beams across the
path of an incoming part.
 Machine vision systems that use visual sensors, usually
video cameras, to provide data that allows the robot to make
intelligent decisions regarding parts
Proprioceptors or Internal
Sensors
 From a mechanical point of view, a robot appears as an
articulated structure consisting of a series of links
interconnected by joints. Each joint is driven by an actuator,
which can change the relative position of the two links
connected by that joint.
 Proprioceptors are sensors measuring both kinematic and
dynamic parameters of the robot. Based on these
measurements, the control system activates the actuators to
exert torques so that the articulated mechanical structure
performs the desired motion.
 Example is Encoders
MACHINE VISION
 The use of machine vision technology is growing very
rapidly, spurred by the need of manufacturers for
increasingly fine control over the quality of manufactured
parts. Machine vision (MV) is the application of computer
vision to industry and manufacturing.
 Whereas computer vision is mainly focused on machine-
based image processing, machine vision most often
requires also digital input/output devices and computer
networks to control other manufacturing equipment such
as robotic arms.
 Machine vision technology uses an imaging system and a
computer to analyze an image and to make decisions based
on that analysis
 Machine vision systems are programmed to perform narrowly
defined tasks such as counting objects on a conveyor,
reading serial numbers, and searching for surface defects
Processing steps of Machine
Vision
 Image acquisition: An optical system gathers an
image, which is then converted to a digital format and
stored into computer memory.
 Image processing: A computer processor uses various
algorithms to enhance elements of the image that are of
specific importance to the process.
 Feature extraction: The processor identifies and
quantifies critical features in the image (e.g., the
position of holes on a printed circuit board, the number
of pins in a connector, the orientation of a component
on a conveyor) and sends the data to a control program.
 Decision and control: The processor’s control program
makes decisions based upon the data. Are the holes within
specification? Is a pin missing? How must a robot move to
pick up the component?
 Machine vision technology is used extensively in the
automotive, agricultural, consumer product, semiconductor,
pharmaceutical, and packaging industries, to name but a few.
Some of the hundreds of applications include vision-guided
circuit board assembly, and gauging of components, razor
blades, bottles and cans, and pharmaceuticals.
THANK YOU

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