机器人学基础_第6章_机器人传感器_蔡自兴汇编

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1、1中南大学中南大学蔡自兴蔡自兴 谢谢 斌斌zxcai, 2010机器人学基础机器人学基础第六章第六章 机器人传感器机器人传感器1Ch.6 Robot SensorsFundamentals of Robotics2Ch.6 Robot Sensors26.1 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 SummaryCh.6 Robot Sensors36.1 Introd

2、uction to Robot SensorsApplication of multi-sensors in mobile robot6.1 Introduction to Robot Sensors4Robot sensors can be divided into two main categories:Internal stateDetect position and orientation in the coordinate of the robot itself, deal with the detection of variables such as arm joint posit

3、ion, velocity, and acceleration.External stateLocalize the robot to the environment, deal with the detection of variables such range, proximity, and touch.6.1.1 Classification of Robot Sensors6.1 Introduction to Robot Sensors5Most needed sensory abilities for robot:Simple Touch: detect whether the o

4、bject 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 Vi

5、sion: recognition of object.6.1.1 Classification of Robot Sensors6.1 Introduction to Robot Sensors6 66.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部传感器）（内部传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors76.2.1 Position/Displacement

6、Sensors 位置传感器位置传感器 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 dif

7、ferential transformer (LVDT) , Potentiometer, Capacitive transducer, Hall effect sensor, Proximity sensor (optical), Grating sensor, Rotary encoder (angular), Photodiode array, etc.6.2 Internal Sensors6.2 Internal Sensors81. Linear Potentiometer 线性电位计线性电位计 Consists of a wirewound resistor (or a thin

8、 film resistor), and a sliding contact point.6.2.1 Displacement/Position Sensors() /() / ()EeeLxLx(2)LeExE6.2 Internal Sensors9A rotary encoder, also called a shaft encoder, is an electro-mechanical device that converts the angular position of a shaft or axle to an analog or digital code, making it

9、an angle transducer. 2. Rotary encodera) 导电塑料型b) 线圈型6.2 Internal Sensors103. Electro-optical Position Sensora)光电位置传感器 b) 感光量曲线 6.2 Internal SensorsFind the relationship between the distance and the received light volume (shows in Fig. b) in advance, we can measure the displacement x of the light sou

10、rce. 111Absolute Optical Angle Sensor 光学式绝对型旋转编码器6.2.2 Angle Sensors6.2 Internal SensorsFor example, resolution of a 12 bit encoder is 2-12 = 4096, so we have a resolution of 1 / 4096 (for a round of 360 degrees). 12Absolute rotary encoders can also be used to detect angular velocity. By comparing c

11、urrent value and stored values, we can obtain the corresponding angular velocity. 1Absolute Optical Angle Sensor6.2 Internal Sensors13Counting the number of conversions to calculate relative angle.Incremental rotary encoder can only measure relative angle from initial value to current one. Therefore