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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

12、, in order to know the exact current angle value, some other methods (such as the absolute encoder) are needed to identify the initial value of angle.2Relative Angle Sensor 光学式增量型旋转编码器6.2 Internal Sensors14In this approach, no matter the clockwise (CW) rotation, or counter-clockwise (CCW) rotation,

13、output of the sensing light always alternate between H and L, so we can not get the direction of rotation.2Relative Angle Sensor6.2 Internal Sensors15Adding another sensor (B) 1/4 cycle away from sensor A. Typically, when clockwise (CW) rotation, signal A changes before B, vice versa.2Relative Angle

14、 Sensor6.2 Internal Sensors16Attitude sensors are used to detect the relative relationship between the robot and ground. When the robot is fixed (just as the majority of industrial robot), there is no need to install such sensors. Attitude sensors are essential for mobile robots.Attitude sensors det

15、ect moving changes in position and orientation of the robot that can be used to control the robot implement desired instruction. 6.2.3 Attitude Sensors 姿态传感器姿态传感器6.2 Internal Sensors17A gyroscope is a device for measuring or maintaining orientation, based on the principles of conservation of angular

16、 momentum. 1电动机2角度传感器3转子4一弹簧 Shown right is a rate gyro. 1Gyro Sensor 陀螺仪陀螺仪6.2 Internal Sensors18gas rate gyroscope气体速率陀螺仪气体速率陀螺仪optical gyroscope光陀螺仪光陀螺仪piezoelectric vibratory gyroscope压电振动式陀螺压电振动式陀螺(shown on the right)2Other Gyros6.2 Internal Sensors19196.1 Introduction to Robot Sensors 6.2 Inte

17、rnal Sensors(内部传感器) 6.3 External Sensors(外部传感器)(外部传感器) 6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors206.3.1 Tactile Sensors 触觉传感器触觉传感器The prototype of robot tactile sensor is an imitation of human tactile sense of touch functions:Tactile sensePressure senseSlip senseForce

18、 sense6.3 External Sensors 内传感器内传感器6.3 External Sensors211Touch Sensor 接触觉传感器接触觉传感器Application: Touch sensors are equipped in the palm of the end-effctor in order to grip objects precisely. 6.3 External Sensors22Robot pressure sensor can detect the pressure and its distribution through an array of p

19、iezoelectric elements. (Eg. Springs (弹簧) for mechanical detecting).2Pressure Sensor 压觉传感器压觉传感器Applications: By smart control of pressure, end-effector can pick up not only fragile objects as glass cups, but also soft object as tofu and eggs.6.3 External Sensors23Slip sensor is used to detect force a

20、nd displacement in the vertical direction of the pressure. 3Slip Sensor 滑觉传感器滑觉传感器6.3 External Sensors24Robot Force sensors can be divided into 3 categories:Joint force sensor, installed in the joint actuator, measure the output force and torque of the actuator itself, is used to control the feedbac

21、k of the force.Wrist force sensor, mounted between the end-effector and the last joint, measure forces and torques on the end-effector for all directions.Finger force sensor, installed in the robot finger joints, measure the clamping force of an object.4Force Sensor 力觉传感器力觉传感器6.3 External Sensors25D

22、raper实验室研制的六维腕力传感器SRI(Stanford Research Institute)研制的六维腕力传感器林纯一研制的腕力传感器4Force Sensor6.3 External Sensors266.3.2 Distance Sensor 机器人距离传感器机器人距离传感器 1 Ultrasonic Distance Sensor 超声波距离传感器超声波距离传感器 Ultrasonic distance sensor is consisting of a transmitter and a receiver, which are both based on piezoelectr

23、ic effect (压电效压电效应应).6.3 External Sensors27Principles of Ultrasonic Ranging- TOF (Time Of Flight ,时间行程法)超声波测距原理图超声波测距原理图1Ultrasonic Distance Sensor6.3 External Sensors281Ultrasonic Distance Sensor 6.3 External Sensors292Proximity Sensors 接近觉传感器接近觉传感器 A proximity sensor is a sensor able to detect the

24、 presence of nearby objects without any physical contact. A proximity sensor often emits an electromagnetic or electrostatic field, or a beam of electromagnetic radiation (infrared, for instance), and looks for changes in the field or return signal. The object being sensed is often referred to as th

25、e proximity sensors target. 6.3 External Sensors30Different proximity sensor targets demand different sensors. For example, a capacitive or photoelectric sensor might be suitable for a plastic target; an inductive proximity sensor requires a metal target.2Proximity Sensors6.3 External Sensors31Resea

26、rch have shown that the visual perception of information accounts for 80% of what people perceived from outside world.Cells of human vision have the magnitude of about 108, is 3000 times to auditory cells(听觉), and over 100 times to the sensory cells of the skin(皮肤触觉).6.3.3 Vision Sensors 视觉传感器视觉传感器6

27、.3 External Sensors32Charge-coupled device (CCD) is a major technology for digital imaging. Although CCDs are not the only technology to allow for light detection, CCDs are widely used in professional, medical, and scientific applications where high-quality image data is required.CCD (Charge-Coupled

28、 Device) Sensors6.3 External Sensors33A total of 256 gray scale, from the Figure (a) to (f) followed by resolution of 512 512, 256 256,128 128,64 64,32 32,16 16.The impact of change on the image resolution6.3 External Sensors34Figure (a) to (f) with resolution of 512 512, followed by 256, 64,16,8,4,

29、 and 2 gray levels.The impact of change on the image gray 6.3 External Sensors35Figure (a) to (f) followed by: 256 256,128-level gray scale; 181 181,64-level gray scale; 128 128,32-level gray scale; 90 90,16-level gray scale; 64 64,8-level gray scale; 45 45,4-level gray scale.The impact of changes in both resolution and grayscale6.3 External Sensors36366.1 Introdu

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