Sensors

Sensors

Vision
1. computer vision system
2. video camera linked to computer
  1. view robots workspace
    1. pick up objects at unknown location
    2. find position and orientation of object
    3. recognise objects
      1. bin picking
  2. on end effector
    1. close up views of object
    2. increasing accuracy of position
  3. view end effector
    1. tell robot if successfully picked up object
    2. where object is in gripper
3. software to analyse images captured
Tactile
1. human sense of touch
2. pressure sensitive pads on inside of gripper fingers
3. convert pressure on pads to electrical signal
4. determine location of part in gripper
5. check part is in gripper
6. control force exerted by gripper
7. recognise shape of part
8. Lord Corporation
  1. surface of tactile pad 2D array of pressure sensitive sites
  2. pressure applied rod pushed down blocks light
  3. amount of pressure determined by amount of light blocked
9. Polymers
  1. pressure changes electrical properties of polymers
  2. electrical circuit embedded in pad of polymers
  3. detect pressure change and distribution
10. limited technology
Range
1. mounted on end effector
  1. ultra sonic
  2. laser
    1. laser projects on spot on surface triangulation computes distance
2. measures distance to an object
3. find position of unknown object
4. maintain fixed distance between end effector and part
Force/ Torque
1. wrist of robot
2. measures forces and torques on end effector using strain gauges
  1. measure small movements by applied forces/torques
  2. microprocessor computers forces/torques from strain gauge values
3. maintain constant force between end effector and part
  1. eg deburring , grinding
4. detect misalignment forces
sensory feedback
1. more complex info about environment provided
2. measure a variable and alter the computer programme based on these results
3. in end effector
4. around the workplace
Simple
1. binary
2. on or off
3. signals robot to stop/start

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	Criado por tazaboo92 quase 11 anos atrás