外部传感器简介（Introduction to external sensors）.docVIP

外部传感器简介（Introduction to external sensors） External sensors for robots 1. overview In order to detect the operation object and environment or robot and the tactile sensor, vision sensor, force sensor installed on the robot, proximity sensor, ultrasonic sensor and sound sensor, greatly improve the working conditions of the robot, so that it can be more complete the work. Because the external sensor is set in a variety of disciplines, some aspects are still being explored, with external sensors to further improve the function of the robot is more and more powerful, will make greater contribution to human beings in many fields. 2. external sensors are classified by function (1) tactile sensor Touch is a combination of mechanical, sensory, sensory, such as touch, impact, compression, etc. the tactile sense can be used for robot grasping, and it can be used to further perceive the physical shape, soft and hard physical properties of the object. Research on robot tactile, only focus on expansion of robot ability necessary to detect tactile function, general perception and external direct contact by touch, pressure, touch and proximity sensor for robot tactile sensor. 1) touch: touch is generated by the object with each other, so it is best to use the finger surface high density distribution of tactile sensor array, it is flexible and easy deformation, can increase the contact area, and has a certain strength, easy to grasp. A contact sensor can detect whether a robot is in contact with a target or an environment and is used for finding objects or perceiving collisions. Mechanical sensors: contact information is disconnected from contacts to obtain information. Usually, micro switches are used to recognize the two-dimensional contours of objects. Because of their structural relationship, they can not be high-density arrays. Elastic sensors: these sensors are made of elastic elements, conductive contacts and insulators. Such as the use of conductive graphite, carbon fiber, u