机器人学基础机器人传感器蔡自兴.pptxVIP

机器人学基础机器人传感器蔡自兴会计学第1页/共41页Ch.6 Robot Sensors6.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors6.1 Introduction to Robot Sensors第2页/共41页Application of multi-sensors in mobile robot6.1 Introduction to Robot Sensors第3页/共41页Robot sensors can be divided into two main categories:Internal stateDetect 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 stateLocalize the robot to the environment, deal with the detection of variables such range, proximity, and touch.6.1 Introduction to Robot Sensors第4页/共41页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.6.1 Introduction to Robot Sensors第5页/共41页6.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors6.2 Internal Sensors第6页/共41页位置传感器 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 Internal Sensors第7页/共41页 1. Linear Potentiometer 线性电位计 Consists of a wirewound resistor (or a thin film resistor), and a sliding contact point.