Download - Robotics Sensors
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SensorsSensors
VelocitySensors
TorqueSensor
Acceleration
Sensors
Position
Sensors
Force & Pressure
Sensor
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IntroductionIntroduction
Used forUsed for Internal FeedbackInternal Feedback
External InteractionExternal Interaction Some sensors possess similar inSome sensors possess similar in
function to that of the human andfunction to that of the human and
animal sensoranimal sensor
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Sensor CharacteristicsSensor Characteristics
CostCost
SizeSize
WeightWeight
Output !pesOutput !pes
InterfacingInterfacing"esolution"esolution
Sensiti#it!Sensiti#it!
$inearit!$inearit!
"ange"ange
"esponse time"esponse time
Fre%uenc!Fre%uenc!responseresponse
"eliabilit!"eliabilit!
&ccurac!&ccurac!
"epeatabilit!"epeatabilit!
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Position SensorsPosition Sensors
'otentiometer'otentiometer EncoderEncoder
IncrementalIncremental
&bsolute&bsolute $()$() "esol#ers"esol#ers $*) or *)$*) or *) +all,e-ect+all,e-ect
SensorSensor
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Position SensorsPosition Sensors
.'otentiometer/.'otentiometer/
http://www.answers.com/main/Record2?a=NR&url=http%3A%2F%2Fcommons.wikimedia.org%2Fwiki%2FImage%3AReochord.jpg -
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Position SensorsPosition Sensors
.Encoder/.Encoder/
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'osition Sensors'osition Sensors
Absolute encoder
The optical disk of the absolute encoder is designed to produce a
digital word that distinguishes N distinct positions of the shaft. For
ea!ple" if there are # tracks" the encoder is capable of producing $%
distinct positions or an angular resolution of '.() *+),$%- degrees.
The !ost co!!on types of nu!erical encoding used in the absolute
encoder are gray and binary codes.
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'osition Sensors'osition Sensors
Incremental encoderIncremental encoder
Or a relative encoder, is simpler inOr a relative encoder, is simpler in
design than the absolute encoder. Itdesign than the absolute encoder. It
consists of two tracks and twoconsists of two tracks and two
sensors whose outputs are calledsensors whose outputs are called
channels A and B. As the shaftchannels A and B. As the shaft
rotates, pulse trains occur on theserotates, pulse trains occur on these
channels at a frequencychannels at a frequency
proportional to the shaft speed, andproportional to the shaft speed, and
the phase relationship between thethe phase relationship between the
signals yields the direction ofsignals yields the direction ofrotation. The code disk pattern androtation. The code disk pattern and
output signals A and B areoutput signals A and B are
illustrated in the igure.illustrated in the igure.
http://hades.mech.northwestern.edu/wiki/index.php/Image:Encoder_diagram.png -
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(elocit! Sensors(elocit! Sensors EncoderEncoderechometersechometers )i-erentiation)i-erentiation
of 'ositionof 'osition
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&cceleration Sensors&cceleration Sensors
Based on piezoelectric technology various physicalBased on piezoelectric technology various physicaldimensions can be measured, the most importantdimensions can be measured, the most importantinclude pressure and acceleration. Figure showsinclude pressure and acceleration. Figure showsschematic configurations of those sensors in theschematic configurations of those sensors in thetransverse configuration. In both designs, thetransverse configuration. In both designs, theelements are thin cuboids that are loaded along theirelements are thin cuboids that are loaded along theirlongest extension. For pressure sensors, a thinlongest extension. For pressure sensors, a thinmembrane with known dimensions and a massivemembrane with known dimensions and a massivebase is used; assuring that an applied pressurebase is used; assuring that an applied pressure
specifically loads the elements in one direction. Forspecifically loads the elements in one direction. Foraccelerometers, a seismic mass is attached to theaccelerometers, a seismic mass is attached to thecrystal elements. hen the accelerometercrystal elements. hen the accelerometerexperiences a motion, the invariant seismic massexperiences a motion, the invariant seismic massloads the elements according to !ewton s second0loads the elements according to !ewton s second0
law of motion F"ma.law of motion F"ma.
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&cceleration Sensors&cceleration Sensors
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Force 1 'ressure SensorsForce 1 'ressure Sensors
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Force 1 'ressure SensorsForce 1 'ressure Sensors
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Force 1 'ressure SensorsForce 1 'ressure Sensors
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Force 1 'ressure SensorsForce 1 'ressure Sensors
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or%ue Sensorsor%ue Sensors
Miniature
Ranges 1 - 100 Nm
Keyed shaft
0-10 V or 4 - 20 mA
IP 50
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*iscellaneous Sensors*iscellaneous Sensors
*icro s2itch*icro s2itch
$ight and Infrared Sensors$ight and Infrared Sensorsouch and actile Sensorsouch and actile Sensors
'roximit! Sensors'roximit! Sensors
*agnetic3 Optical3 Ultrasonic3 Inducti#e3*agnetic3 Optical3 Ultrasonic3 Inducti#e3Capaciti#eCapaciti#e
"ange Finders"ange Finders
Sni- SensorsSni- Sensors
(ision Sensor(ision Sensor
(oice,"ecognition )e#ices(oice,"ecognition )e#ices
(oice S!nthesizers(oice S!nthesizers
"emote Center Com liance "CC )e#ice"emote Center Com liance ."CC/ )e#ice