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1、中南大学蔡自兴，谢斌zxcai,xiebin@mail.csu.edu.cn2010机器人学基础第六章机器人传感器1Ch.6RobotSensorsFundamentalsofRoboticsFundamentalsofRobotics1Ch.6RobotSensors26.1IntroductiontoRobotSensors6.2InternalSensors（内部传感器）6.3ExternalSensors（外部传感器）6.4RobotSensorApplicationConsiderations6.5SummaryCh.6Robot
2、Sensors6.1IntroductiontoRobotSensorsApplicationofmulti-sensorsinmobilerobot6.1IntroductiontoRobotSensors3Robotsensorscanbedividedintotwomaincategories:InternalstateDetectpositionandorientationinthecoordinateoftherobotitself,dealwiththedetectionofvariablessuchasarmjointposi
3、tion,velocity,andacceleration.ExternalstateLocalizetherobottotheenvironment,dealwiththedetectionofvariablessuchrange,proximity,andtouch.6.1.1ClassificationofRobotSensors6.1IntroductiontoRobotSensors4Mostneededsensoryabilitiesforrobot:SimpleTouch:detectwhethertheobjectisthe
4、reornot.CompoundTouch:detectthesizeandshapeoftheobject.SimpleForce:detectforcealongonedirection.CompoundForce:detectforcesalongmultipledirections.Proximity:non-contactdetectionofobjects.SimpleVision:detectfeaturesuchasholes,lines,andcorners.CompoundVision:recognitionofobje
5、ct.6.1.1ClassificationofRobotSensors6.1IntroductiontoRobotSensors566.1IntroductiontoRobotSensors6.2InternalSensors（内部传感器）6.3ExternalSensors（外部传感器）6.4RobotSensorApplicationConsiderations6.5SummaryCh.6RobotSensors66.2.1Position/DisplacementSensors位置传感器Apositionsensorisanyide
6、athatpermitspositionmeasurement.Itcaneitherbeanabsolutepositionsensororarelativeone(displacementsensor).Positionsensorscanbeeitherlinearorangular.InductiveNon-ContactPositionSensors,StringPotentiometer,Linearvariabledifferentialtransformer(LVDT),Potentiometer,Capacitivetra
7、nsducer,Halleffectsensor,Proximitysensor(optical),Gratingsensor,Rotaryencoder(angular),Photodiodearray,etc.6.2InternalSensors6.2InternalSensors71.LinearPotentiometer线性电位计Consistsofawirewoundresistor(orathinfilmresistor),andaslidingcontactpoint.6.2.1Displacement/PositionSen
8、sors6.2InternalSensors8Arotaryencoder,alsocalledashaftencoder,isanelectro-mechanicaldevic
