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FARTS '''FARTS'''
[[File:Роботизовані датчики.jpg|thumb|right|size|300px|Types of [[robot]] sensors ([[Light]] and [[Sound]] sensors)]]
'''Robotic sensors''' are used to estimate a [[robot]]'s condition and environment. These signals are passed to a controller to enable appropriate behavior.<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.
== Classification ==
Sensors provide analogs to human senses and can monitor other phenomena for which humans lack explicit sensors.
* Simple Touch: Sensing an object's presence or absence.
* Complex Touch: Sensing an object's size, shape and/or hardness.
* Simple Force: Measuring force along a single axis.
* Complex Force: Measuring force along multiple axes.
* Simple Vision: Detecting edges, holes and corners.
* Complex Vision: Recognizing objects.
* Proximity: Non-contact detection of an object.
Sensors can measure physical properties, such as the distance between objects, the presence of light and the frequency of sound.<ref>{{cite web | url=http://www.britishpathe.com/video/robot-sensation | title=Robot Sensation | publisher=British Pathe | accessdate=27 January 2015}}</ref>
They can measure:
* Object Proximity: The presence/absence of an object, bearing, color, distance between objects.
* Physical orientation. The co-ordinates of object in space.
* Heat: The wavelength of infrared or ultra violet rays, temperature, magnitude, direction.
* Chemicals: The presence, identity, and concentration of chemicals or reactants.
* Light: The presence, color, and intensity of light.
* Sound: The 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 Platform | accessdate=23 January 2015}}</ref>
Motion controllers, potentiometers, tacho-generators and encoder are used as joint sensors, whereas strain-gauge based sensing is used at the end-effector ___location for contact force control.
==Internal sensor==
Internal sensors measure the robot's internal state. They are used to measure its position, velocity and acceleration.
=== Position sensor ===
Position sensors measure the position of a joint (the degree to which the joint is extended). They include:
* Encoder: a digital optical device that converts motion into a sequence of digital pulses.
* Potentiometer: a variable resistance device that expresses linear or angular displacements in terms of voltage.
* Linear variable differential transformer: a displacement transducer that provides high accuracy. It generates an AC signal whose magnitude is a function of the displacement of a moving core.
* Synchros and Resolvers
=== Velocity Sensor ===
A velocity or speed sensor measures consecutive position measurements at known intervals and computes the time rate of change in the position values.
== 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==
{{Portal|Robotics}}
* [[Robot]]
* [[Robotics]]
* [[Tactile sensor]]
* [[Robot locomotion]]
* [[Outline of robotics]]
* [[Robot App Store]]
* [[Liquid handling robot]]
* [[Glossary of robotics]]
* [[Index of robotics articles]]
* [[Mechatronics]]
* [[Outline of robotics]]
==References==
{{reflist|30em}}
[[Category:Robotics]]
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