机器人学基础-第6章-机器人传感器-蔡自兴doc资料.ppt

《机器人学基础-第6章-机器人传感器-蔡自兴doc资料.ppt》由会员上传分享，免费在线阅读，更多相关内容在教育资源-天天文库。

1、机器人学基础-第6章-机器人传感器-蔡自兴6.1IntroductiontoRobotSensorsApplicationofmulti-sensorsinmobilerobot6.1IntroductiontoRobotSensors6.1.1ClassificationofRobotSensors•Robotsensorscanbedividedintotwomaincategories:•Internalstate–Detectpositionandorientationinthecoordinateoftherobotitself,de

2、alwiththedetectionofvariablessuchasarmjointposition,velocity,andacceleration.•Externalstate–Localizetherobottotheenvironment,dealwiththedetectionofvariablessuchrange,proximity,andtouch.6.1IntroductiontoRobotSensors6.1.1ClassificationofRobotSensors•Mostneededsensoryabilitiesf

3、orrobot:–SimpleTouch:detectwhethertheobjectisthereornot.–CompoundTouch:detectthesizeandshapeoftheobject.–SimpleForce:detectforcealongonedirection.–CompoundForce:detectforcesalongmultipledirections.–Proximity:non-contactdetectionofobjects.–SimpleVision:detectfeaturesuchashole

4、s,lines,andcorners.–CompoundVision:recognitionofobject.6.1IntroductiontoRobotSensors•6.1IntroductiontoRobotSensors•6.2InternalSensors（内部传感器）•6.3ExternalSensors（外部传感器）•6.4RobotSensorApplicationConsiderations•6.5SummaryCh.6RobotSensors56.2InternalSensors6.2.1Position/Displacem

5、entSensors位置传感器•Apositionsensorisanyideathatpermitspositionmeasurement.Itcaneitherbeanabsolutepositionsensororarelativeone(displacementsensor).Positionsensorscanbeeitherlinearorangular.•InductiveNon-ContactPositionSensors,StringPotentiometer,Linearvariabledifferentialtransfo

6、rmer(LVDT),Potentiometer,Capacitivetransducer,Halleffectsensor,Proximitysensor(optical),Gratingsensor,Rotaryencoder(angular),Photodiodearray,etc.6.2InternalSensors6.2.1Displacement/PositionSensors1.LinearPotentiometer线性电位计Consistsofawirewoundresistor(orathinfilmresistor),and

7、aslidingcontactpoint.(Ee)/e(Lx)/(Lx)L(2eE)xE6.2InternalSensors2.Rotaryencoder•Arotaryencoder,alsocalledashaftencoder,isanelectro-mechanicaldevicethatconvertstheangularpositionofashaftoraxletoananalogordigitalcode,makingitanangletransducer.a)导电塑料型b)线圈型6.2InternalSenso

8、rs3.Electro-opticalPositionSensor•Findtherelationshipbetweenthedistanceandt