Robotic sensors: Difference between revisions

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{{Short description|Mechanical sensors, often based on human senses}}

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[[File:RobotРоботизовані sensorsдатчики.jpg|thumb|right|size|300px|Types of [[robot]] sensors ([[Light]] and [[Sound]] sensors)]]

{{Orphan|date=March 2015}}

'''RobotRobotic sensors''' are used to estimate a [[robot]]'s condition, itsand environment. andThese passessignals thatare signalpassed to robota controller in order to controlenable robotappropriate functionalitybehavior.<ref>{{cite web | url=http://www.robotstorehk.com/sensor.html | title=Automation and Robotics ( Robot Store ) | publisher=Robot Store (HK) | accessdate=23 January 2015}}</ref><ref>{{cite web | url=http://www.active-robots.com/sensors | title=Robotics sensors (Active) | publisher=[[Active Robots]] | accessdate=23 January 2015}}</ref>

{{Copy edit|for=grammar|date=March 2015}}

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'''Sensors''' in robots are based on the functionfunctions of human organs[[sensory for example the eyes or skin etc., terminologies like vision, tactile etc., have cropped up in robot sensorsorgan]]s. Robots like humans, must gatherrequire extensive information about their environment in order to function effectively.

[[File:Robot sensors.jpg|thumb|right|size|300px|Types of [[robot]] sensors ([[Light]] and [[Sound]] sensors)]]

'''Robot sensors''' are used to estimate [[robot]] condition, its environment and passes that signal to robot controller in order to control robot functionality.<ref>{{cite web | url=http://www.robotstorehk.com/sensor.html | title=Automation and Robotics ( Robot Store ) | publisher=Robot Store (HK) | accessdate=23 January 2015}}</ref><ref>{{cite web | url=http://www.active-robots.com/sensors | title=Robotics sensors (Active) | publisher=Active Robots | accessdate=23 January 2015}}</ref>

== Sensor Classification ==

'''Sensors''' in robots are based on the function of human organs for example the eyes or skin etc., terminologies like vision, tactile etc., have cropped up in robot sensors. Robots like humans, must gather extensive information about their environment in order to function effectively.

Sensors provide analogs to human senses and can monitor other phenomena for which humans lack explicit sensors.

* Simple Touch: TheSensing an object's presence or absence of an object.

* Complex Touch: Sensing an object's size, shape and/or hardness.

* Simple Force: MeasuredMeasuring force along a single axis.

* ComplesComplex Force: MeasuredMeasuring force along two or moremultiple axes.

* Simple Vision: Detection[[Edge ofdetection|Detecting edges]], holes, corners, and so oncorners.

* Complex Vision: [[Object recognition|Recognizing objects]].

* [[proximity sensor|Proximity]]: Non-contact detection of an object.

RobotSensors Sensationcan allowsmeasure robotphysical toproperties, measuresuch as the distance between objectobjects, the presence of light, frequency of sound etc. depending onand the typefrequency of sensors embedded in [[robot]]sound.<ref>{{cite web | url=http://www.britishpathe.com/video/robot-sensation | title=Robot Sensation | publisher=British Pathe | accessdate=27 January 2015}}</ref>

== Part-Picking ==

RobotThey can measure:

In special parts feeder, an alignment pallet are not necessarily required since automatic system can be constructed at low cost alignment operation like vision sensors that perform inspection, pick bins, etc. Insertion [[robot]]s can perform fitting and insertion operation of [[machine]] parts precisely with the help of different kind of [[sensor]]. Different phases parts are attached by [[robot]] after matching. It can perform tasks that are beyond from human approach.<ref>{{cite web | url=http://www.universalrobotics.com/random-bin-picking | title=Random Bin Picking & Automated Assembly | publisher=Universal | accessdate=23 January 2015}}</ref>

* Object Proximity: PresenceThe presence/absence of an object, bearing, color, distance between objects.

* Physical orientation. The co-ordinates of object in space.

* Heat: The Wavelengthwavelength of infrared or ultra violet rays, temperature, magnitude, direction.

* Chemicals: Robot can measureThe presence, identity, and concentration of chemicals or reactants.

* Sound: PresenceThe presence, frequency, and intensity of sound.<ref>{{cite web | url=http://www.robotplatform.com/knowledge/sensors/types_of_robot_sensors.html | title=Types of Robot Sensors | publisher=Robot PlateformPlatform | accessdate=23 January 2015}}</ref>

ForMotion motion controlcontrollers, potentiometers, tacho-generators, and encoder, etc. are used as joint sensors, whereas strain-gauge based sensing etc., areis used at the end-effector ___location for contact force control.

== Robot Sensation ==

Robot Sensation allows robot to measure distance between object, presence of light, frequency of sound etc. depending on the type of sensors embedded in [[robot]].<ref>{{cite web | url=http://www.britishpathe.com/video/robot-sensation | title=Robot Sensation | publisher=British Pathe | accessdate=27 January 2015}}</ref>

Robot can measure:

* Object Proximity: Presence/absence of object, bearing, color, distance between objects.

* Physical orientation. co-ordinates of object in space.

* Heat: Wavelength of infrared or ultra violet rays, temperature, magnitude, direction.

* Chemicals: Robot can measure presence, identity, concentration of chemicals or reactants.

* Light: Presence of light, different color, intensity of light.

* Sound: Presence, frequency, intensity.<ref>{{cite web | url=http://www.robotplatform.com/knowledge/sensors/types_of_robot_sensors.html | title=Types of Robot Sensors | publisher=Robot Plateform | accessdate=23 January 2015}}</ref>

==Internal sensor*==

== Sensor Classification ==

It is the part of the robot. Internal sensors measure the robot's internal state. They are used to measure position, velocity and acceleration of the robot joint or end effectors.

Sensors in robots are like our eyes, nose, ears, mouth, and skin. The major capabilities required by a robot are as follows:

* Simple Touch: The presence or absence of an object.

* Taction or Complex Touch: The presence of an object plus some information on its size and shape.

* Simple Force: Measured force along a single axis.

* Comples Force: Measured force along two or more axes.

* Proximity: Non-contact detection of an object.

* Simple Vision: Detection of edges, holes, corners, and so on.

* Complex Vision: Recognition of shapes.

=== Position sensor ===

For motion control, potentiometers, tacho-generators, encoder, etc. are used as joint sensors, whereas strain-gauge based sensing etc., are used at the end-effector ___location for contact force control.

[[Position sensor]]s measure the position of a joint (the degree to which the joint is extended). They include:

==Internal sensor==

* [[Encoder: (position)|Encoder is]]: a digital optical device that converts motion into a sequence of digital pulses.

Internal sensors as the name suggests are used to measure the internal state of a robot ,i.e. its position, velocity, acceleration, etc. at particular instant.

* [[Potentiometer]]:Potentiometer, also referred to as simply ‘pot’，is a variable resistance device that expresses linear or angular displacements in terms of voltage.

* LVDT: The linear[[Linear variable differential transformer]]: (LVDT) is one of the most useda displacement transducers,transducer particularlythat whenprovides high accuracy is needed. It generates an AC signal whose magnitude is relateda tofunction of the displacement of a moving core.

* [[Synchro|Synchros]] and [[Resolver (electrical)|Resolvers]]

=== Velocity Sensor ===

'''Position sensors''' measure the position of each joint i.e, the joint angle of a robot. Different position sensors are explained next.

* Encoder: Encoder is a digital optical device that converts motion into a sequence of digital pulses.

* Potentiometer:Potentiometer, also referred to as simply ‘pot’，is a variable resistance device that expresses linear or angular displacements in terms of voltage.

* LVDT: The linear variable differential transformer (LVDT) is one of the most used displacement transducers, particularly when high accuracy is needed. It generates an AC signal whose magnitude is related to the displacement of a moving core.

* Synchros and Resolvers.

'''Velocity Sensors''' or speed sensors measure try taking consecutive position measurements at known time intervals and computing the time rate of change of the position values or directly finding it based on different principles.

'''VelocityA Sensors'''[[velocity sensor|velocity or speed sensorssensor]] measure try takingmeasures consecutive position measurements at known time intervals and computingcomputes the time rate of change ofin the position values or directly finding it based on different principles.

== Applications ==

In speciala parts feeder, ana alignmentvision pallet are not necessarily required since automatic systemsensor can beeliminate constructedthe atneed lowfor costan alignment operationpallet. likeVision-enabled visioninsertion sensorsrobots thatcan perform inspection, pick bins, etc. Insertion [[robot]]s canprecisely perform fitting and insertion operationoperations of [[machine]] parts precisely with the help of different kind of [[sensor]]. Different phases parts are attached by [[robot]] after matching. It can perform tasks that are beyond from human approach.<ref>{{cite web | url=http://www.universalrobotics.com/random-bin-picking | title=Random Bin Picking & Automated Assembly | publisher=Universal | accessdate=23 January 2015}}</ref>

==See also==

* [[Robotic sensing]]

{{Portal|Robotics}}

* [[Robot]]

* [[Robotics]]

* [[Tactile sensor]]

* [[Robot locomotion]]

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* [[Index of robotics articles]]

* [[Mechatronics]]

* [[Outline of robotics]]

==References==

{{reflist|30em}}

[[Category:Robotics hardware]]

[[Category:RobotsRobotic sensing]]

[[Category:Sensors]]