Robotic sensors: Difference between revisions

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

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

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

'''Robotic sensors''' are used to estimate a [[robot]]'s condition and its environment. These signals are passed to a robot 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>

Sensors in robots are based on the functions of human [[sensory organ]]s. Robots require 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)]]

'''Robotic sensors''' are used to estimate a [[robot]]'s condition and its environment. These signals are passed to a 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 sensory organs. For example, sensors are often intended to mimic the sensory functions of the eyes or skin. As such, terms like vision, tactile, and similar terms for other sensory functions are commonly used in discussion of robotic 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 ismeasure aphysical termproperties, thatsuch refers to sensory input allowing robots to measureas the distance between objects, the presence of light, and the frequency of sound, etc., depending on the type of sensors embedded in the [[robot]].<ref>{{cite web | url=http://www.britishpathe.com/video/robot-sensation | title=Robot Sensation | publisher=British Pathe | accessdate=27 January 2015}}</ref>

== Part-Picking ==

RobotsThey can measure:

In a special parts feeder, an alignment pallet is not necessarily required since an automatic system can be constructed at low cost for alignment operations such as 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]]s. Different phases' parts are attached by the [[robot]] after matching. Such a robotic system can perform tasks that are beyond a 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 is a term that refers to sensory input allowing robots to measure the distance between objects, the presence of light, the frequency of sound, etc., depending on the type of sensors embedded in the [[robot]].<ref>{{cite web | url=http://www.britishpathe.com/video/robot-sensation | title=Robot Sensation | publisher=British Pathe | accessdate=27 January 2015}}</ref>

Robots can measure:

* Object Proximity: Presence/absence of an 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.

'''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 a parts feeder, a vision sensor can eliminate the need for an alignment pallet. Vision-enabled insertion robots can precisely perform fitting and insertion operations of machine parts.<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]]