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Unit 3 Sensors

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108 views29 pages

Unit 3 Sensors

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Pragati Sharma
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INSTITUTE OF EGINEERING & TECHNOLOGY, KHANDARI,

AGRA
Robotics
Unit-3 Sensors
Dr. Greesh Kumar Singh
Assistant Professor
ECE Department
Institute of Engineering and Technology,
Dr. Bhimrao Ambedkar University,
Khandari Campus, Agra
Sensors
Major Capabilities required by a Robot

Safe operation

Interlocking

Inspection

Part Configuration
Sensor Capabilities
Major Capabilities required by a robot as
follows:
Simple Touch
Taction or Complex Touch
Simple Force
Complex Force
Proximity
Simple Vision
Complex Vision
Sensors Classification
Based on the types of signal
 Analog sensors
 Digital Sensors

 Based on what they sense


 Internal Sensors
 External Sensors
Internal Sensors
Used to measure the internal state of a robot
1.Position Sensors (Encoder, Potentiometer, LVDT)
2.Velocity Sensors (Tachometer, Hall-effect sensor, All position Sensors)
3.Acceleration Sensors
4.Force Sensors (Piezoelectric based, Strain-Gauge based, current based)
1. Position Sensors
Encoders
Incremental
Linear Encoder
Rotary Encoder
Absolute
Linear Encoder
Rotary Encoder
1. Position Sensors
Potentiometer (POT)- is a variable resistance device
that express linear and angular displacements in terms of
voltage.
1. Position Sensors
LVDT-
2. Velocity Sensors

All Position Sensors


Tachometer
Hall Effect Sensor-
3. Acceleration Sensors

 Finding acceleration from force involves integration which


suppresses any noise in the force signal.
 However, if the velocity signal is used to determine the
acceleration, differentiation has to be performed which
amplifies the noise in the velocity signal.
4. Force Sensors
• A spring balance is an example of a force sensor in which a
force, namely, the weight, is applied to the scale pan that
causes displacement, i.e., the spring stretches. The
displacement is then a measure of force.
 Strain Gauge Based
 Piezoelectric Based
 Current Based
External Sensors
Used to learn more about a Robot’s Environment
1. Contact type (Limit switch)
Limit Switches are used in robots to detect the extreme positions
of the motions, where the link reaching an extreme position
switches off the corresponding actuator, thus, safeguarding any
possible damage to the mechanical structure of the robot arm.
External Sensors…
2. Non-contact type
Proximity Sensor-(Proximity sensing is the technique of
the detecting the presence or absence of an object
with an electronic non-contact type sensor)
A. Inductive Proximity Sensor-(sensing of metallic objects)
i. Sensor coil and ferrite core
ii. Oscillator Circuit
iii. Detector Circuit
iv. Solid-state output circuit
B. Capacitive Proximity Sensor-(Sensing of metallic and non-
metallic objects) it is based on dielectric capacitance.
Semiconductor displacement sensor-(LED, Laser, LSD)
Signal Conditioning
 Amplifiers
 Filters
 Modulators and Demodulators
 Analog and Digital Conversions (DAC, ADC)
 Bridge Circuits
 Signal analyzer
Sensor Parameters
Sensor Parameters…
Sensor Parameters…
Sensor Parameters…
Sensor Parameters…
Sensor Selection
 Range  Resolution and Threshold

 Sensitivity  Hysteresis

 Linearity  Type of output

 Response time  Size and Weight

 Bandwidth  Environmental conditions

 Accuracy  Reliability and Maintainability

 Repeatability and precision  Interfacing

 Others (Initial cost, Maintenance cost, cost of disposal and replacement, reputation
of Manufacturer, operational Simplicity, ease of availability of the sensors and their
spares)
Vision
Vision can be defined as the task of extracting
information about the external world from the
light ray imaged by a camera or an eye.
Vision System provide alternative economic
solution with following other tasks:
– Inspection
– Identification
– Visual Servoing and Navigation Control
Elements in a Vision sensor
Camera System (Vidicon Camera, Digital camera)
Lightening Techniques (Direct Incident Lighting, Diffuse Incident
Lighting, Lateral Lighting, Dark Field Lighting, Backlighting)
Steps in a Vision System
Image Acquisition
Image Processing
– Image data reduction
– Histogram Analysis
– Thresolding
– Masking
– Edge Detection
– Segmentation
– Morphology operation
Image Analysis (Feature Extraction, Object Recognition)
Hierarchy of a vision system
Low level vision
Intermediate level vision
High level vision
Difficulties in Vision and Remedies
• A VS cannot uniquely represent or process all available data
because of computational problem, memory, and processing-
time requirements imposed on the computer.

• Other problems include variations of light, part size, part


placement, and limitations in the dynamic range.
References
 Denavit, J. &Hartenberg, R. S. (1955). A kinematic notation for lower-pair
mechanisms based on matrices. Journal of Applied Mechanics, Vol-1 , pp.
215-221 .

 SK Saha. (2014). Introduction to Robotics. 2nd edi., Mc Graw Hill Edu.

 RoboAnalyzer.com

 https://www.slideshare.net/AVINASHJURIANI/robotics-done

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