机器人学基础 机器人传感器.pptxVIP

会计学 1 机器人学基础 机器人传感器 2 6.1 Introduction to Robot Sensors Application of multi-sensors in mobile robot 6.1 Introduction to Robot Sensors 第1页/共40页 3 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 Introduction to Robot Sensors 第2页/共40页 4 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3页/共40页 5 5 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 Summary Ch.6 Robot Sensors 第4页/共40页 6 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 6.2 Internal Sensors 第5页/共40页 7 1. Linear Potentiometer 线性电位计 Consists of a wirewound resistor (or a thin film resistor), and a sliding contact point. 6.2 Internal Sensors 第6页/共40页 8 A rotary encoder, also called a shaft encoder, is an electro-mechanical device that converts the angular pos