机器人学基础6章机器人传感器.pptVIP

中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010 6.1 Introduction to Robot Sensors 6.1.1 Classification of Robot Sensors Robot sensors can be divided into two main categories: Internal state Detect position and orientation in the coordinate of the robot itself, deal with the detection of variables such as arm joint position, velocity, and acceleration. External state Localize the robot to the environment, deal with the detection of variables such range, proximity, and touch. 6.1.1 Classification of Robot Sensors Most needed sensory abilities for robot: Simple Touch: detect whether the object is there or not. Compound Touch: detect the size and shape of the object. Simple Force: detect force along one direction. Compound Force: detect forces along multiple directions. Proximity: non-contact detection of objects. Simple Vision: detect feature such as holes, lines, and corners. Compound Vision: recognition of object. 6.2 Internal Sensors 6.2.1 Position/Displacement Sensors 位置传感器 A position sensor is any idea that permits position measurement. It can either be an absolute position sensor or a relative one (displacement sensor). Position sensors can be either linear or angular. Inductive Non-Contact Position Sensors, String Potentiometer, Linear variable differential transformer (LVDT) , Potentiometer, Capacitive transducer, Hall effect sensor, Proximity sensor (optical), Grating sensor, Rotary encoder (angular), Photodiode array, etc. 6.2.1 Displacement/Position Sensors 1. Linear Potentiometer 线性电位计 Consists of a wirewound resistor (or a thin film resistor), and a sliding contact point. A rotary encoder, also called a shaft encoder, is an electro-mechanical device that converts the angular position of a shaft or axle to an analog or digital code, making it an angle transducer. Find the relationship between the distance and the received light volume (shows in Fig. b) in advance, we can measure the displacement x of the light source. 6.2.2 Angle Se