【机器人系列】sensing for robotics and control课件

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1、SensingforRoboticsandControlME4135R.R.LindekeGeneralIdeasaboutSensorsSensoraretrulysystems!Sensorssystemsconsistofthreeseparableideas:Informationalsources:physicallymeasurabledatasources(lightbeams,audiobeams,electricalfields,etc)Detectorareas:Devicesthatreacttochangesintheinformationals

2、ourcesDataInterpreters:devices(hardorsoftbased)thatconvertinformationalchangesintousefulinformationSensorTopicsPositionalControlSensingKinesethicSensingResolversAbsoluteEncodersIncrementalEncodersEnvironmentalSensorsContactPointFieldSensorsProximity–typicallysinglepointRemoteSinglePointF

3、ieldSensorsKinesethicSensingThesesensorsprovidefeedbackinformationtothejoint/linkcontrollers(servoinformation)TheyuseanalogordigitalinformationalresponsesWewillexplore3generallyusedtypes:ResolversAbsoluteEncodersIncrementalEncodersResolversOperatingprincipleisthatachargedrotatingshaftwil

4、linducevoltageonstationarycoilsSecondaryVoltagesarerelatedtoPrimaryvoltageasSinandCosratiosoftheprimaryfieldvoltageResolverIdeas:Typicallyweuse2statorsone(notshown)mountednormaltoanaxisthatis90awayfromtheonethruWindingAResolvers,cont.PositionisdeterminedforcomputingstatorratioWindingA

5、carriesSinsignalWindingBcarriesCossignalA/B=tansoShaftposition=Atan2(B_Reading,A_Reading)ofinterestResolverIssuesThesedevicesaresusceptibletoElectricalNoise–mustbehighlyshieldedUsuallyusegearingtoimproveresolutionTypicallyareexpensivebutveryruggedforuseinharsh“shockmotion”environment

6、sOpticalEncoderPositionalSensorsBasedonPhotoelectricsource/receiverpairsLooksforchangeofstateaschangingreceiversignallevel(binaryswitching)UsesacarefullydesigneddiskwithclearandopaquepatchestocontrollightfallingonafixedsensorasdiskrotatesCanbemade‘absolute’withseveralpairsofemitters/rece

7、iversorIncrementalwith2‘outofphase’photosensorsOpticalServoMeasurementSystemsAbsoluteEncodersUseGlassDiskmarkedforpositionalresolutionReaddigitalwords(0010111011)atreceivertorepresentshaftpositionCommonlyAvailablewithupto16bitsofinformation(216)toconvertintopositionalreso