Transducers and sensors
Sensors in robotics
Tactile sensors
Proximity and range sensors
Miscellaneous sensors and sensor based system
Use of sensors in Robotics
Obstacle Avoidance Robot Summer training Presentation Wasi Abbas
i did an extremely hard work on it. I believe that you all my friends will surely get the benefit of this presentation. As a student of B.tech I just wish to assist those who always ready to assist another one. thanks for reading......
Tactile sensors and their robotic applicationsAasheesh Tandon
This presentation discusses about artificial tactile sensors, it's comparison with human tactile senses. Further different types of tactile sensors are enlisted ,with a few given in more detail.
Robotic applications are also discussed and then finally future developments in this area is mentioned.
Robotic technology has the origin from the year 1954 and has very vast application in the field like energy, health, agriculture, education, research, motion and space etc. The disadvantage of any autonomous robot is that, it is very difficult to maintain stability of its traverse condition. In this paper, we have introduced and achieved maximum stability for the traverse condition through white line following technique. Here we are using the Fire Bird V robotic technology as our robotic medium, which has the Atmega2560 as its microcontroller and where it uses Studio 4 as its controller’s software platform. The control dynamic to the robot is sent via the software platform which is embedded ‘C’ language and the traverse condition is maintained. This robot runs at step down voltage value of 9V AC supply and has also uses lithium 9v battery as a stand by back up.
Sensors & applications , commenly used sensorsKamal Bhagat
sensors and its applications , overview of sensors , sensors in smartphone , mems technology , sensors with applications , mems world , common use of ir sensor
robotics and autonomus robots which follows a line.
For those who are intrested in robotics for that it is the best presentation om line follower,
for any query or comments plesase write mail
yashpatel.14,ce@iite.indusuni.ac.in
code is also embeded in the presentation.
it also include the video of the file follower robots run by this given code \
and in robocon
Requirements of a sensor, Principles and Applications of the following types of sensors- Position sensors - Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position Sensors, Range Sensors Triangulations Principles, Structured, Lighting Approach, Time of Flight, Range Finders, Laser Range Meters, Touch Sensors ,binary Sensors., Analog Sensors, Wrist Sensors, Compliance Sensors, Slip Sensors, Camera, Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image Storage, Lighting Techniques, Image Processing and Analysis-Data Reduction, Segmentation, Feature Extraction, Object Recognition, Other Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.
Obstacle Avoidance Robot Summer training Presentation Wasi Abbas
i did an extremely hard work on it. I believe that you all my friends will surely get the benefit of this presentation. As a student of B.tech I just wish to assist those who always ready to assist another one. thanks for reading......
Tactile sensors and their robotic applicationsAasheesh Tandon
This presentation discusses about artificial tactile sensors, it's comparison with human tactile senses. Further different types of tactile sensors are enlisted ,with a few given in more detail.
Robotic applications are also discussed and then finally future developments in this area is mentioned.
Robotic technology has the origin from the year 1954 and has very vast application in the field like energy, health, agriculture, education, research, motion and space etc. The disadvantage of any autonomous robot is that, it is very difficult to maintain stability of its traverse condition. In this paper, we have introduced and achieved maximum stability for the traverse condition through white line following technique. Here we are using the Fire Bird V robotic technology as our robotic medium, which has the Atmega2560 as its microcontroller and where it uses Studio 4 as its controller’s software platform. The control dynamic to the robot is sent via the software platform which is embedded ‘C’ language and the traverse condition is maintained. This robot runs at step down voltage value of 9V AC supply and has also uses lithium 9v battery as a stand by back up.
Sensors & applications , commenly used sensorsKamal Bhagat
sensors and its applications , overview of sensors , sensors in smartphone , mems technology , sensors with applications , mems world , common use of ir sensor
robotics and autonomus robots which follows a line.
For those who are intrested in robotics for that it is the best presentation om line follower,
for any query or comments plesase write mail
yashpatel.14,ce@iite.indusuni.ac.in
code is also embeded in the presentation.
it also include the video of the file follower robots run by this given code \
and in robocon
Requirements of a sensor, Principles and Applications of the following types of sensors- Position sensors - Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position Sensors, Range Sensors Triangulations Principles, Structured, Lighting Approach, Time of Flight, Range Finders, Laser Range Meters, Touch Sensors ,binary Sensors., Analog Sensors, Wrist Sensors, Compliance Sensors, Slip Sensors, Camera, Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image Storage, Lighting Techniques, Image Processing and Analysis-Data Reduction, Segmentation, Feature Extraction, Object Recognition, Other Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.
Unit III - Solved Question Bank- Robotics Engineering -Sanjay Singh
This Question Bank for Robotics Engineering is only for academic purpose and not for any commercial use. Students of Anna University and other Universities can use it for reference and knowledge.
VARIOUS SENSOR USED IN ROBOTICS WITH APPLICATIONS | J4RV3I12003Journal For Research
This paper gives brief introduction about various sensors used in robotics and their applications. A sensor is a device that detects the changes in electrical or physical or other quantities and thereby produces an output and whose purpose is to detect events or changes in its environment and send the information to other electronic devices. Robotic sensors are used to estimate robots condition and environment. Sensors in robots are based on the functions of human sensory organs. Sensors used in robots provide intelligence to the robot and improve their performance.
https://technoelectronics44.blogspot.com/
ULTRASONIC SENSOR RANGE FIND OUT, it has Implemented by using ULTRASONIC SENSOR, 8051 microcontrollers, LCD display, and a sound indicator.
Haptic gloves controlled robotic arm using MEMS accelerometerijiert bestjournal
Robots of the current generation have been used in fields isolated from the human society. The definitions of robotics are numerous and varied,ultimately they all deal with a labour - saving machine that with increasing technological capabilities gets clos er and closer to human mechanical and mental capabilities. In order to represent the robotic technology in the field of human - machine interaction and wireless communication for allows interactivity in real - time with virtual objects it is very necessary to develop some or the other technology that makes the maximum use of robot to help people do their work in an efficient way in their day to day life . The main objective of the project is to design and develop the Robot that is used to move using wireless sys tem by recognizing hand motion that is controlled by haptics technology for virtual environment & human - machine systems capable of haptic interaction.
International Journal of Engineering Research and DevelopmentIJERD Editor
Electrical, Electronics and Computer Engineering,
Information Engineering and Technology,
Mechanical, Industrial and Manufacturing Engineering,
Automation and Mechatronics Engineering,
Material and Chemical Engineering,
Civil and Architecture Engineering,
Biotechnology and Bio Engineering,
Environmental Engineering,
Petroleum and Mining Engineering,
Marine and Agriculture engineering,
Aerospace Engineering.
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
File system and IOCS
Files and file organization
Fundamentals of file organizations
Directory structures
File protection
Interface between file system and IOCS
Allocation of disk space
Implementation of file access
Managing the memory hierarchy
Static and dynamic memory allocations
Memory allocation to a process
Reuse of memory
Contiguous and non contiguous memory allocation
Paging
Segmentation
Segmentation with paging
Definition
Embedded systems vs. General Computing Systems
Core of the Embedded System
Memory
Sensors and Actuators
Communication Interface
Embedded Firmware
Other System Components
PCB and Passive Components
Introduction
Types of end effectors
Mechanical gripper
Other types of grippers
Tools as end effectors
The Robot/End effectors interface
Considerations in gripper selection and design
Operation of an O.S
Structure of an operating system,
Operating systems with monolithic structure
Layered design of an operating system
Virtual machine operating systems
Kernel based operating systems
Fundamentals of Robotics and Machine Vision Systemanand hd
Automation and Robotics
Robotics in science Fiction
A brief history of robotics
Robot Anatomy & Work volume
Robot drive systems
Control systems and Dynamic performance
Precision of movement
End effectors
Robotic sensors,
Robot programming and work cell control
Robot applications
Efficiency, system performance and user convenience
Classes of operating systems
Batch processing system,
Multi programming systems
Time sharing systems
Real time operating systems
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Explore the innovative world of trenchless pipe repair with our comprehensive guide, "The Benefits and Techniques of Trenchless Pipe Repair." This document delves into the modern methods of repairing underground pipes without the need for extensive excavation, highlighting the numerous advantages and the latest techniques used in the industry.
Learn about the cost savings, reduced environmental impact, and minimal disruption associated with trenchless technology. Discover detailed explanations of popular techniques such as pipe bursting, cured-in-place pipe (CIPP) lining, and directional drilling. Understand how these methods can be applied to various types of infrastructure, from residential plumbing to large-scale municipal systems.
Ideal for homeowners, contractors, engineers, and anyone interested in modern plumbing solutions, this guide provides valuable insights into why trenchless pipe repair is becoming the preferred choice for pipe rehabilitation. Stay informed about the latest advancements and best practices in the field.
Sachpazis:Terzaghi Bearing Capacity Estimation in simple terms with Calculati...Dr.Costas Sachpazis
Terzaghi's soil bearing capacity theory, developed by Karl Terzaghi, is a fundamental principle in geotechnical engineering used to determine the bearing capacity of shallow foundations. This theory provides a method to calculate the ultimate bearing capacity of soil, which is the maximum load per unit area that the soil can support without undergoing shear failure. The Calculation HTML Code included.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
NO1 Uk best vashikaran specialist in delhi vashikaran baba near me online vas...Amil Baba Dawood bangali
Contact with Dawood Bhai Just call on +92322-6382012 and we'll help you. We'll solve all your problems within 12 to 24 hours and with 101% guarantee and with astrology systematic. If you want to take any personal or professional advice then also you can call us on +92322-6382012 , ONLINE LOVE PROBLEM & Other all types of Daily Life Problem's.Then CALL or WHATSAPP us on +92322-6382012 and Get all these problems solutions here by Amil Baba DAWOOD BANGALI
#vashikaranspecialist #astrologer #palmistry #amliyaat #taweez #manpasandshadi #horoscope #spiritual #lovelife #lovespell #marriagespell#aamilbabainpakistan #amilbabainkarachi #powerfullblackmagicspell #kalajadumantarspecialist #realamilbaba #AmilbabainPakistan #astrologerincanada #astrologerindubai #lovespellsmaster #kalajaduspecialist #lovespellsthatwork #aamilbabainlahore#blackmagicformarriage #aamilbaba #kalajadu #kalailam #taweez #wazifaexpert #jadumantar #vashikaranspecialist #astrologer #palmistry #amliyaat #taweez #manpasandshadi #horoscope #spiritual #lovelife #lovespell #marriagespell#aamilbabainpakistan #amilbabainkarachi #powerfullblackmagicspell #kalajadumantarspecialist #realamilbaba #AmilbabainPakistan #astrologerincanada #astrologerindubai #lovespellsmaster #kalajaduspecialist #lovespellsthatwork #aamilbabainlahore #blackmagicforlove #blackmagicformarriage #aamilbaba #kalajadu #kalailam #taweez #wazifaexpert #jadumantar #vashikaranspecialist #astrologer #palmistry #amliyaat #taweez #manpasandshadi #horoscope #spiritual #lovelife #lovespell #marriagespell#aamilbabainpakistan #amilbabainkarachi #powerfullblackmagicspell #kalajadumantarspecialist #realamilbaba #AmilbabainPakistan #astrologerincanada #astrologerindubai #lovespellsmaster #kalajaduspecialist #lovespellsthatwork #aamilbabainlahore #Amilbabainuk #amilbabainspain #amilbabaindubai #Amilbabainnorway #amilbabainkrachi #amilbabainlahore #amilbabaingujranwalan #amilbabainislamabad
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
1. Mr. Anand H. D.
1
Department of Electronics & Communication Engineering
Dr. Ambedkar Institute of Technology
Bengaluru-56
Robotics & Machine Vision System: Sensors in Robotics
Robotics & Machine Vision System: Sensors in Robotics
2. 2
Transducers and sensors
Sensors in robotics
Tactile sensors
Proximity and range sensors
Miscellaneous sensors and sensor based system
Use of sensors in Robotics
TOPICS TO BE COVERED
Robotics & Machine Vision System: Sensors in Robotics
3. 3
Transducers and sensors
Sensors in robotics
Tactile sensors
Proximity and range sensors
Miscellaneous sensors and sensor based system
Use of sensors in Robotics
TOPICS TO BE COVERED
Robotics & Machine Vision System: Sensors in Robotics
4. 4
Transducers and Sensors
Robotics & Machine Vision System: Sensors in Robotics
A Transducer is a device that converts one type of physical variable into another form.
A Sensor is a Transducer that is used to make a measurement of a physical variable of interest.
Any Sensor or Transducer requires calibration in
order to be useful as a measuring device.
Sensors and Transducers can be classified into two
basic types depending on the form of converted signal:
1. Analog Transducers
2. Digital Transducers
Some of the desirable features of Sensors to be used in Robotics or in any applications include:
Accuracy: true value of the variable can be sensed with no systematic positive or negative errors in the
measurement. Over repetitive measurement of the variable, the average error between actual value and the
sensed value will tend to be zero.
Precision: there is little or no random variability in the measured variable. The dispersion in the values of a
series of measurements will be minimized.
Operating Range: sensor must posses wide operating range and it must be accurate and precise over that
entire range.
Speed of Response: capability of sensor to respond to changes in the sensed variable in minimum time.
Calibration: sensor should be easy to calibrate, time and procedure to accomplish calibration must be
minimum, should not require frequent recalibration.
Reliability: sensor should possess high reliability, should not be subjected to failures during operation
Cost and ease of operation: cost to purchase, install and operate should be low. Installation and
operation of device must not require a specially trained skilled operator.
5. 5
Transducers and sensors
Sensors in robotics
Tactile sensors
Proximity and range sensors
Miscellaneous sensors and sensor based system
Use of sensors in Robotics
TOPICS TO BE COVERED
Robotics & Machine Vision System: Sensors in Robotics
6. 6
Sensors in Robotics
Robotics & Machine Vision System: Sensors in Robotics
A Robotic Sensor is a device that can detect physical signal and convert into electrical
signal. Robotic sensors are used to estimate a robot‘s condition and environment. These signals
are passed to a controller to enable appropriate behavior.
Robotic Sensors can be divided into following general categories:
Tactile Sensor
Proximity and range Sensor
Miscellaneous Sensors and Sensor-based systems.
Machine Vision Systems
Some of the Sensors used in robot cells :
1. Ammeter - Miscellaneous Sensor
2. Eddy current detectors - Proximity sensor
3. Electrical contact Switch - touch sensor
4. Infrared Sensor - Proximity sensor
5. Limit Switch - touch sensor
6. LVDT - Proximity Sensor
7. Microswitch - touch sensor
8. Ohmmeter- Miscellaneous Sensor
9. Optical pyrometer - Miscellaneous/Proximity Sensor
10. Photometric Sensors - Miscellaneous/Proximity Sensor
11. Piezoelectric accelerometer - Miscellaneous Sensor
12. Potentiometer - Miscellaneous Sensor
13. Pressure Transducers - Miscellaneous Sensor
14. Radiation Pyromete- Miscellaneous/Proximity Sensor
15. Strain Gage - force sensor
16. Thermistor - Miscellaneous Sensor
17. Thermocouple - Miscellaneous Sensor
19. Vision Sensors - Vision System
20. Voice Sensors - Miscellaneous/Proximity Sensor
18. Vacuum Switches - Miscellaneous/Proximity Sensor
7. 7
Transducers and sensors
Sensors in robotics
Tactile sensors
Proximity and range sensors
Miscellaneous sensors and sensor based system
Use of sensors in Robotics
TOPICS TO BE COVERED
Robotics & Machine Vision System: Sensors in Robotics
8. 8
Tactile Sensors
Robotics & Machine Vision System: Sensors in Robotics
Tactile Sensors are devices which indicate contact between themselves and some other solid
object.
Can be divided into 2 classes: Touch Sensors and Force Sensors
Touch Sensors provide a binary output signal which indicates whether or not contact has
been made with the object.
Force Sensors sometimes referred as Stress Sensors indicate not only that contact has been
made with the object but also the magnitude of the contact force between the two objects.
Touch Sensors includes simple devices like limit switches, microswitches etc.
Frequently used in design of interlock systems in robotics.
used to indicate presence or absence of parts in a fixture or at a pick up point along a
conveyor.
Can also be used as part of an inspection probe which is manipulated by robot to
measure dimensions on workpart.
https://youtu.be/VdgfY3-uzk4
9. 9
Tactile Sensors
Robotics & Machine Vision System: Sensors in Robotics
using Force Sensors permits the robot to perform a number of tasks.
•Like grasping parts of different sizes in material handling, machine loading and assembly
work applying appropriate force for the given workpart
•In assembly applications force sensing can be used to determine whether screws have
become cross threaded or if the parts are jammed
Force sensing in robotics can be accomplished in number of ways, commonly used technique
is ‘force- sensing wrist’ another technique is by sensing the torque exerted by each joint
and finally third technique by an array of force sensing elements.
Force- sensing wrist
Provides information about 3 components of Force(Fx, Fy and Fz) and 3 moments (Mx, My and
Mz) being applied to endeffectors.
The device consists of a metal bracket fastens
to a rigid frame.
The frame is mounted to the wrist of robot and
tool is mounted to the center of the bracket
The figure shows how sensors might react to a
moment applied to the bracket due to forces and
moments on the tool.
10. 10
Tactile Sensors
Robotics & Machine Vision System: Sensors in Robotics
Since the forces are usually applied to the
wrist in combinations it is necessary to first
resolve the forces and moments into 6
components . This is taken care by robot
controller or by specially designed amplifier.
Based on these calculations, the robot
controller can obtain required information of
the forces and moments applied to the wrist.
This information can be used for number of
applications. For Eg. An insertion operation
(like inserting a peg into a hole) requires that
there are no side forces being applied to the
peg.
Another example is where the robots end
effector is required to follow along an edge or
contour of an irregular surface-force
accommodation
11. 11
Tactile Sensors
Robotics & Machine Vision System: Sensors in Robotics
The robot equipped with a force-sensing
wrist plus the proper computing capacity
could be programmed to accomplish these
type applications.
The procedure would be begin by deciding on
the desired force to be applied in each axis
direction and controller would perform
following sequence of operation:
1. Measure the forces at the wrist in each
axis direction.
2. Calculate the force offsets required.
3. Calculate the torques to be applied by each
axis to generate the desired fore offsets at
the wrist
4. Then the robot must provide the torques so
that the desired forces are applied in each
direction.
12. 12
Tactile Sensors
Robotics & Machine Vision System: Sensors in Robotics
Design of Force Sensors is very complex due to redundancies present in the force sensing
process itself.
Force sensors are made using
strain gages that measure the strain
along particular axes.
This single cantilever beam can be used to measure forces along two axes directions-x axis
and z-axis
It is to be noted that in 3D space there
will be total 3 forces and 3 moments.
Hence a force sensor is usually made
having 4 arms, each of which responds to
two forces as shown:
13. 13
Tactile Sensors
Robotics & Machine Vision System: Sensors in Robotics
Joint sensing
If the robot uses dc motors then the torque being exerted by the motors is proportional to the current
flowing through the armature.
A simple way to measure this current is to measure the voltage drop across a small precision
resistor in series with the motor and power amplifier.-this simple technique makes it attractive.
But suffers several disadvantages like:
Measurements are made in joint space, while forces of interest are applied by the tool and would be
more useful if made in tool space.
Therefore forces measured not only reflects the forces being applied at the tool, but also forces and
torques required to accelerate the links of the arm and to overcome friction and transmission losses of
the joints.
If the joint friction is relatively high, it will mask out the small forces being applied to the tool tip
One area where joint torque sensing shows promise of working well is with direct-drive robots.
Direct drive robots are new innovations in which drive motors are located at the manipulator.
In torque sensing, this configuration reduces the friction and transmission losses and the
problems of torque measurement which accompany these losses are thereby reduced.
https://youtu.be/6nPlctPZwv4
14. 14
Tactile Sensors
Robotics & Machine Vision System: Sensors in Robotics
Tactile Array sensors
Special type of force sensors composed of matrix of force-sensing elements.
The force data provided by this type of device may be combined with a pattern recognition
techniques to describe a number of characteristics about the impression contacting the array
sensor surface.
Among these characteristics are:
1. The presence of an object
2. The object’s contact area, shape, location and orientation.
3. The pressure and pressure distribution and
4. Force magnitude and location
Tactile array sensors may be mounted in the fingers of the robot gripper or attached to a
work table as flat touch surface.
The device is typically composed of an array of conductive elastomeric pads. As each pad is
squeezed its electrical resistance changes in response to the amount of deflection in the pad,
which is proportional to the applied force.
By measuring the resistance of each pad, information about the shape of the object
against the array of sensing elements can be determined.
16. 16
Transducers and sensors
Sensors in robotics
Tactile sensors
Proximity and range sensors
Miscellaneous sensors and sensor based system
Use of sensors in Robotics
TOPICS TO BE COVERED
Robotics & Machine Vision System: Sensors in Robotics
17. 17
Proximity and Range Sensors
Robotics & Machine Vision System: Sensors in Robotics
Proximity sensors
Devices which indicate when one object is close to another object without making any contact.
How close the object must be in order to activate a sensor is dependent on the particular
device.
The distance can be anywhere between several millimeters and several feet.
One of the practical use of proximity sensors in robotics would be to detect the presence or
absence of workpart or other object.
Range sensors would be useful for determining the location of an object in relation to the
robot.
Some of these sensors can also be used to measure the distance between the object and the
sensor-Range Sensors
Proximity and range sensors would be typically be located on the wrist or end effectors since
these are the moving parts of robot.
Another important use of proximity sensors in robotics would be to sense human beings in
robot workcell.
A variety of technologies are available for designing proximity and range sensors which
include optical devices, acoustics, electrical field techniques and others.
https://youtu.be/RO1P8jGYU78
18. 18
Proximity and Range Sensors
Robotics & Machine Vision System: Sensors in Robotics
Optical Proximity sensors
Can be designed using either visible or invisible(infrared) light sources.
Infrared sensors may be active or passive.
The active sensors send out an infrared beam and respond to the reflection of the beam
against the target.
The active infrared sensor can be used to indicate not only whether or not part is present,
but also the position of the part. By timing the interval from when the signal is sent and the
echo is received, a measurement of the distance between the object and sensor is made.
They are often utilized in security systems to detect the presence of bodies giving off heat
within the range of sensor. These are effective in covering large areas in building interiors.
The infrared-reflectance sensor using an incandescent light source is a common device that
is commercially available.
This feature is especially useful in locomotion and guidance systems.
The passive infrared sensors are simple devices which detect the presence of infrared
radiation in the environment.
19. 19
Proximity and Range Sensors
Robotics & Machine Vision System: Sensors in Robotics
Optical Proximity sensors cont.
Another optical approach for proximity sensing involves the use of a collimated light beam and a
linear array of light source.
By reflecting the light beam off the surface of the object, the location of the object can be
determined from the position of its reflected beam on the sensor array.
Use of this device relies on the fact that surface of the object must be parallel to the
sensing array.
This scheme is illustrated:
x = 0.5 y tan(A)
where x is the distance of object from the sensor
y= lateral distance between the light source and the reflected light beam against the linear
array
A is the angle between the object and the sensor array.
20. 20
Proximity and Range Sensors
Robotics & Machine Vision System: Sensors in Robotics
Acoustical Proximity sensors
Ultrasonic frequencies (above 20,000 Hz) are often used in such devices because the range is
beyond the human hearing.
One type of acoustical proximity sensor uses a cylindrical open ended chamber with an
acoustic emitter at the closed end of the chamber.
The emitter sets up a standing waves in the cavity which is altered by the presence of
an object near the open end.
A microphone located in the wall of the chamber is used to sense the change in the
sound pattern. This kind of device can be used as a range sensor.
https://youtu.be/3w3zzVIr3kI
https://youtu.be/79eoYnDIG7g
21. 21
Proximity and Range Sensors
Robotics & Machine Vision System: Sensors in Robotics
Electrical Proximity sensors
Two of the types in this category are eddy-current sensors and magnetic field sensors.
eddy-current sensors create a primary alternating magnetic field in the small region near
the probe.
The field induces the eddy currents in the object placed in the region so long as the
object is made of conductive material.
These eddy currents produce their own magnetic fields which interact with the
primary field to change the flux density.
The probe detects the change in the flux density and this indicates the presence of
object.
https://youtu.be/MqFXFnkHk-8
https://youtu.be/-JDLNyNXORY
22. 22
Proximity and Range Sensors
Robotics & Machine Vision System: Sensors in Robotics
Magnetic field Proximity sensors
Relatively simple and are made using reed switch and a permanent magnet.
The magnet can be made part of the object being detected or it can be the part of sensor
device.
In either case the device can be designated so that the presence of the object in the region of
the sensor completes the magnetic circuit and activates the reed switch.
This type of devices are attractive because of its relative simplicity and because no
external power supply is required for its operation.
https://youtu.be/qje8LhZXwO0
https://youtu.be/f15uUSdVkKQ
23. 23
Transducers and sensors
Sensors in robotics
Tactile sensors
Proximity and range sensors
Miscellaneous sensors and sensor based system
Use of sensors in Robotics
TOPICS TO BE COVERED
Robotics & Machine Vision System: Sensors in Robotics
24. 24
Miscellaneous sensors and sensor based system
The miscellaneous category covers the remaining types of sensors and transducers that
might be used for interlocks and other purposes in robotic workcells.
This category includes devices with the capability to sense variables such as
temperature pressure, fluid flow, and electrical properties.
An area of robotics research, is voice sensing or voice programming. Voice-programming
systems can be used in robotics for oral communication of instructions to the robot.
Voice sensing relies on the techniques of speech recognition to analyze spoken words
uttered by a human and compare those words with a set of stored word patterns.
When the spoken word matches the stored word pattern, this indicates that the robot
should perform some particular actions which correspond to the word or series
of words.
Robotics & Machine Vision System: Sensors in Robotics
25. 25
Transducers and sensors
Sensors in robotics
Tactile sensors
Proximity and range sensors
Miscellaneous sensors and sensor based system
Use of sensors in Robotics
TOPICS TO BE COVERED
Robotics & Machine Vision System: Sensors in Robotics
26. 26
Use of sensors in Robotics
The major uses of sensors in industrial robotics and other automated manufacturing
systems can be divided into four basic categories:
1. Safety monitoring
2. Interlocks in workcell control
3. Part inspection for quality control
4. Determining positions and related information about objects in the robot cell
One of the important applications of sensor technology in automated manufacturing
operations is safety or hazard monitoring which concerns the protection of human
workers who work in the vicinity of the robot or other equipment.
The second major use of sensor technology in robotics is to implement interlocks in
workcell control. As mentioned earlier, interlocks are used to coordinate the sequence of
activities of the different pieces of equipment in the workcell.
In the execution of the robot program, there are certain elements of the work cycle
whose completion must be verified before proceeding with the next element in the cycle.
Sensors, often very simple devices, are utilized to provide this kind of verification.
Robotics & Machine Vision System: Sensors in Robotics
27. 27
Use of sensors in Robotics
The third category is quality control. Sensors can be used to determine a variety of
part quality characteristics.
Traditionally, quality control has been performed using manual inspection techniques
on a statistical sampling basis. The use of sensors permits the inspection operation to
be performed automatically on a 100 percent basis, in which every part is inspected.
The limitation on the use of automatic inspection is that the sensor system can only
inspect for a limited range of part characteristics and defects.
For example, a sensor probe designed to measure part length cannot detect flaws in the
part surface. Many applications of automated inspection are accomplished without the
use of robotics.
The fourth major use of sensors in robotics is to determine the positions and other
information about various objects in the workcell (e.g., workparts, fixtures, people,
equipment, etc.).
Robotics & Machine Vision System: Sensors in Robotics
28. 28
Use of sensors in Robotics
In addition to positional data about a particular object, other information required to
properly execute the work cycle might include the object's orientation, color, size, and
other characteristics. Reasons why this kind of data would need to be determined
during the program execution include: Workpart identification, and Random position
and orientation of parts in the workcell
Accuracy requirements in a given application exceed the inherent capabilities of the
robot. Feedback information is required to improve the accuracy of the robot's
positioning.
An example of workpart identification would be in a workcell in which the robot
processes several types of workparts, each requiring a different sequence of actions by
the robot. Each part presented to the robot would have to be properly identified so that
the correct subroutine could be called for execution. This type of identification problem
arises in automobile body spot-welding lines where the line is designed to weld several
different body styles (e.g., coupes, sedans, wagons). Each welding robot along the line
must execute the welding cycle for the particular body style at that station.
Robotics & Machine Vision System: Sensors in Robotics
29. 29
Use of sensors in Robotics
Simple optical sensors are typically used to indicate the presence or absence of specific
body style features in order make the proper identification.
An example of the part position and orientation problem is where a robot would be
required to pick up parts moving along a conveyor in random orientation and position,
and place them into a fixture.
To accomplish the task, the exact location of each part would have to be sensed as it
came down the line. In addition, for the robot to use a mechanical gripper to grasp the
particular workpart, the orientation of the part on the conveyor would have to be
determined.
All of this information would have to be processed by the workcell controller (or other
computer) in real time in order to guide the robot in the execution of its programmed
work cycle.
Robotics & Machine Vision System: Sensors in Robotics
30. 30
Use of sensors in Robotics
Vision systems represent an important category of sensor system that might be
employed to determine such characteristics as part location and orientation.
In some applications, the accuracy requirements in the application are more stringent
than the inherent accuracy and repeatability of the robot. Certain assembly operations
represent examples of this case. The robot is required to assemble two parts whose
alignment must be very close, closer than the accuracy of the robot. One possible
solution that might be used is a Remote Center Compliance (RCC) device.
All four categories of sensor applications (safety monitoring, interlocks, inspection, and
positional data) are instances where the sensor constitutes a component of a control
system used in robot work cell to accomplish some specific control function.
That control system, in turn, is a component of a larger control system which we can
call as workcell control system.
All of the control functions which takes place in workcell are coordinated and regulated
by larger system.
Robotics & Machine Vision System: Sensors in Robotics
31. 31
Reference
M.P. Groover, M. Weiss, R.N. Nagel, N.G. Odrey,
“Industrial Robotics-Technology, Programming
and Applications” Tata McGraw-Hill Education
Pvt Ltd,, 2008
For Further Studies
Robotics & Machine Vision System: Sensors in Robotics
32. Prof. Anand H. D.
M. Tech.
Assistant Professor,
Department of Electronics & Communication Engineering
Dr. Ambedkar Institute of Technology, Bengaluru-56
Email: anandhdece@dr-ait.org
Phone: 9844518832
Robotics & Machine Vision System: Sensors in Robotics