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Encoder S

Encoders are used to measure rotational motion, such as the rotation of a wheel. They can be used in conjunction with electric motors to measure the motor's position and control its position. Servo motors are commonly used electric motors that work with encoders. Robotic sensors can be classified as internal state sensors, which measure position, velocity, and acceleration of robot joints and end-effectors, or external state sensors, which monitor the robot's relationship with its environment. Common internal state sensors include potentiometers, tachometers, and encoders.

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shreedharkolekar
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18 views

Encoder S

Encoders are used to measure rotational motion, such as the rotation of a wheel. They can be used in conjunction with electric motors to measure the motor's position and control its position. Servo motors are commonly used electric motors that work with encoders. Robotic sensors can be classified as internal state sensors, which measure position, velocity, and acceleration of robot joints and end-effectors, or external state sensors, which monitor the robot's relationship with its environment. Common internal state sensors include potentiometers, tachometers, and encoders.

Uploaded by

shreedharkolekar
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Encoders o o o Encoders measure rotational motion. They can be used to measure the rotation of a wheel.

Servo motors: Used in conjunction with an electric motor to measure the motors position and, in turn, control its position.

Voltage square wave

on

on

off

off

off

1
Touch sensors A Simple switch
electrical flow

4 ...

force

voltage measurement

Robotic Sensor Classification Internal state sensors - device being used to measure the position, velocity and acceleration of the robot joint and/or end-effectors. These devices are potentiometer, tachometers, synchros, resolvers, differential transformers, optical interrupters, optical encoders and accelerometer. Ii.External state sensors device being used to monitor the relationship between the robot kinematics and/or dynamics with its task, surrounding, or the object being manipulated. PROXIMITY & RANGE SENSORS It is a technique of detecting the presence or absence of an object with electronic noncontact sensors. Typical application of proximity sensors includes: Object detection Collision avoidance Object verification & counting 1. Photoelectric/optical sensors

Commonly available proximity sensors are:

2. Inductive proximity sensors 3. Capacitive proximity sensors sensors Resistive Sensors Bend Sensors Resistance = 10k to 35k As the strip is bent, resistance increases

4. Ultrasonic proximity

Potentiometers

Can be used as position sensors for sliding mechanisms or rotating shafts Easy to find, easy to mount

Light Sensor (Photocell)

Good for detecting direction/presence of light Non-linear resistance Slow response to light changes

Resistive Bend Sensor Internal state sensors - device being used to measure the position, velocity and acceleration of the robot joint and/or end-effectors. These devices are potentiometer, tachometers, synchros, resolvers, differential transformers, optical interrupters, optical encoders and accelerometer. External state sensors device being used to monitor the relationship between the robot kinematics and dynamics with its task, surrounding, or the object being manipulated.

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