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CHAPTER 7

CHAPTER 7. Robot Sensing. Robot Sensing. SENSORS. INTERNAL. Arm Position (Int) Arm Velocity (Int). INTERNAL STATE. -Force/Torque on/by Environment Proximity Range Vision. EXTERNAL. EXTERNAL STATE. Robot Sensing. Joint Position Sensors. -Incremental Encoders -Need Homing

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CHAPTER 7

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  1. CHAPTER 7 Robot Sensing

  2. Robot Sensing SENSORS INTERNAL • Arm Position (Int) • Arm Velocity (Int) INTERNAL STATE • -Force/Torque on/by Environment • Proximity • Range • Vision EXTERNAL EXTERNAL STATE

  3. Robot Sensing Joint Position Sensors • -Incremental Encoders • -Need Homing • Absolute Encoders Joint Velocity Sensors -Tachometers

  4. RANGE SENSING • Triangulation • -Source sweeps ( is variable) • B is known • When detector sees light spot in focus,  is determined & D computed.

  5. RANGE SENSING • Structured Lighting

  6. RANGE SENSING • Time of Flight Range Finders D is a function of Phase Difference. Also ultrasonic sensors.

  7. PROXIMITY SENSING • Inductive Sensing • change in Flux

  8. PROXIMITY SENSING • Hall Effect Sensing • Voltage related to magnetic field across material.

  9. PROXIMITY SENSING • Optical Sensors • Capacitive Sensors • Ultrasonic Sensors

  10. TOUCH SENSING • Binary • Analog

  11. TOUCH SENSING • Tactile Sensor Array

  12. TOUCH SENSING • Artificial Skins All rely on change in Resistance.

  13. FORCE/TORQUE SENSING Parallel n Serial Calibration Matrix Strain Gage Readings SENSOR COMPUTER/PROCESSOR Computer or Robot SENSOR Raw Filter 1 Filter 2 Filter 3 Filter 6 Some intelligence

  14. MACHINE VISION SENSOR Monitor Computer or Robot • Computer or Robot Controller • For Robot guidance PROCESSING

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