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ECE 450 Introduction to Robotics

ECE 450 Introduction to Robotics. Section: 50883 Instructor: Linda A. Gee 10/26/99 Lecture 13. Tactile and Proximity Sensing. Tactile Sensors provide collision indication with surroundings in terms of direct physical contact; used on automated guided vehicles (AGVs) Proximity Sensors

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ECE 450 Introduction to Robotics

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  1. ECE 450 Introduction to Robotics Section: 50883 Instructor: Linda A. Gee 10/26/99 Lecture 13

  2. Tactile and Proximity Sensing • Tactile Sensors • provide collision indication with surroundings in terms of direct physical contact; used on automated guided vehicles (AGVs) • Proximity Sensors • provide advance warning of the presence of an object and are non-contact devices

  3. Tactile Sensors • Tactile sensor methods • Contact closure • Magnetic • Piezoelectric • Capacitive • Photoelectric • Magnetoresistive • Piezoresistive • Ultrasonic

  4. Tactile Sensors for Mobile Robots • Tactile feelers or antennae • Tactile bumpers • Distributed surface arrays

  5. Tactile Feelers • Active • possess mechanical components • Passive • rely on relative motion between the robot and the object

  6. Tactile Bumpers • Simple sensor • designed to form a contact closure when pressure is applied to the bumper • other actuators can be used to trigger control or decisions concerning course of action

  7. Distributed Surface Arrays • Skin-like sensor used with manipulators • uses an outer surface, typically rubber to determine the contact or compression of the surface • provides robotic orientation sensing for industrial applications

  8. Proximity Sensors • Proximity sensor methods • Magnetic • Inductive • Capacitive • Ultrasonic • Microwave • Optical

  9. Magnetic Proximity Sensors • Types of magnetic proximity sensors • Magnetic reed switches: hermitically sealed • Hall Effect sensors: voltage and magnetic field • Magnetoresistive sensors: change in resistivity with motion • Giant Magnetoresistance devices (GMR): linear operation

  10. Inductive Proximity Sensors • Commonly used in industrial sensors • capable of sensing through non-metallic materials • operating characterisitics are versatile • insensitive to cosmetic alterations • can be submerged in fluids and maintain operation • size variation determines sensing range capability

  11. Capacitive Proximity Sensors • Detects a change in capacitance or electric field due to object presence • Capable of sensing • dielectric materials • metals

  12. Ultrasonic Proximity Sensors • Reflective sensor • Responds to the change in the energy emitted and returned to a detector: acoustics • Distance characteristics • Detects • liquids • objects • solids

  13. Microwave Proximity Sensors • Reflective sensor • Emits electromagnetic energy in the microwave region of the RF spectrum • Doppler shift indicates the presence of an object • Transmitter - Receiver pair required

  14. Optical Proximity Sensors • Photoelectric sensors • Three groups • opposed: electric eye; emitter/detector beam interrruption • retroreflective: uses an object to reflect from emitter to the detector • diffuse: uses the target object to return the energy from the emitter to the detector

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