505221
Sensors
- Vision
- computer vision system
- video camera linked to computer
- view robots workspace
- pick up objects at unknown location
- find position and orientation of object
- recognise objects
- bin picking
- bin picking
- pick up objects at unknown location
- on end effector
- close up views of object
- increasing accuracy of position
- close up views of object
- view end effector
- tell robot if successfully picked up object
- where object is in gripper
- tell robot if successfully picked up object
- view robots workspace
- software to analyse images captured
- computer vision system
- Tactile
- human sense of touch
- pressure sensitive pads on inside of gripper fingers
- convert pressure on pads to electrical signal
- determine location of part in gripper
- check part is in gripper
- control force exerted by gripper
- recognise shape of part
- Lord Corporation
- surface of tactile pad 2D array of pressure sensitive sites
- pressure applied rod pushed down blocks light
- amount of pressure determined by amount of light blocked
- surface of tactile pad 2D array of pressure sensitive sites
- Polymers
- pressure changes electrical properties of polymers
- electrical circuit embedded in pad of polymers
- detect pressure change and distribution
- pressure changes electrical properties of polymers
- limited technology
- human sense of touch
- Range
- mounted on end effector
- ultra sonic
- laser
- laser projects on spot on surface triangulation computes distance
- laser projects on spot on surface triangulation computes distance
- ultra sonic
- measures distance to an object
- find position of unknown object
- maintain fixed distance between end effector and part
- mounted on end effector
- Force/ Torque
- wrist of robot
- measures forces and torques on end effector using strain gauges
- measure small movements by applied forces/torques
- microprocessor computers forces/torques from strain gauge values
- measure small movements by applied forces/torques
- maintain constant force between end effector and part
- eg deburring , grinding
- eg deburring , grinding
- detect misalignment forces
- wrist of robot
- sensory feedback
- more complex info about environment provided
- measure a variable and alter the computer programme based on these results
- in end effector
- around the workplace
- more complex info about environment provided
- Simple
- binary
- on or off
- signals robot to stop/start
- binary
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