机器人学基础机器人传感器蔡自兴学习教案

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1、会计学1机器人学基础机器人学基础(jch)机器人传感器蔡自机器人传感器蔡自兴兴第一页，共42页。226.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部（内部(nib)传感器传感器） 6.3 External Sensors（外部传感器）（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第1页/共41页第二页，共42页。3Application of multi-sensors in mobile robot6.1 Int

2、roduction to Robot Sensors第2页/共41页第三页，共42页。4deal with the detection of variables such range, proximity, and touch.6.1 Introduction to Robot Sensors第3页/共41页第四页，共42页。5multiple directions.nProximity: non-contact detection of objects.nSimple Vision: detect feature such as holes, lines, and corners.nComp

3、ound Vision: recognition of object.6.1 Introduction to Robot Sensors第4页/共41页第五页，共42页。666.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部(nib)传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第5页/共41页第六页，共42页。7Inductive Non-Contact Posit

4、ion Sensors, String Potentiometer, Linear variable differential transformer (LVDT) , Potentiometer, Capacitive transducer, Hall effect sensor, Proximity sensor (optical), Grating sensor, Rotary encoder (angular), Photodiode array, etc.6.2 Internal Sensors第6页/共41页第七页，共42页。8() /() / ()EeeLxLx(2)LeExE6

5、.2 Internal Sensors第7页/共41页第八页，共42页。92. Rotary encodera) 导电(dodin)塑料型b) 线圈(xinqun)型6.2 Internal Sensors第8页/共41页第九页，共42页。103. Electro-optical Position Sensora)光电位置传感器 b) 感光(gn gung)量曲线 6.2 Internal Sensors第9页/共41页第十页，共42页。116.2 Internal SensorsFor example, resolution of a 12 bit encoder is 2-12 = 409

6、6, so we have a resolution of 1 / 4096 (for a round of 360 degrees). 第10页/共41页第十一页，共42页。126.2 Internal Sensors第11页/共41页第十二页，共42页。13Incremental rotary encoder can only measure relative angle from initial value to current one. Therefore, in order to know the exact current angle value, some other metho

7、ds (such as the absolute encoder) are needed to identify the initial value of angle.6.2 Internal Sensors第12页/共41页第十三页，共42页。146.2 Internal Sensors第13页/共41页第十四页，共42页。156.2 Internal Sensors第14页/共41页第十五页，共42页。166.2 Internal Sensors第15页/共41页第十六页，共42页。171电动机2角度传感器3转子(zhun z)4一弹簧 Shown right is a rate gyro

8、. 6.2 Internal Sensors第16页/共41页第十七页，共42页。186.2 Internal Sensors第17页/共41页第十八页，共42页。19196.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部(nib)传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第18页/共41页第十九页，共42页。20Force sense6.3 External S

9、ensors第19页/共41页第二十页，共42页。211Touch Sensor 接触接触(jich)觉传感器觉传感器Application: Touch sensors are equipped in the palm of the end-effctor in order to grip objects precisely. 6.3 External Sensors第20页/共41页第二十一页，共42页。222Pressure Sensor 压觉传感器压觉传感器Applications: By smart control of pressure, end-effector can pick

10、 up not only fragile objects as glass cups, but also soft object as tofu and eggs.6.3 External Sensors第21页/共41页第二十二页，共42页。233Slip Sensor 滑觉传感器滑觉传感器6.3 External Sensors第22页/共41页第二十三页，共42页。244Force Sensor 力觉传感器力觉传感器6.3 External Sensors第23页/共41页第二十四页，共42页。25Draper实验室研制(ynzh)的六维腕力传感器SRI（Stanford Researc

11、h Institute）研制(ynzh)的六维腕力传感器林纯一研制(ynzh)的腕力传感器4Force Sensor6.3 External Sensors第24页/共41页第二十五页，共42页。266.3 External Sensors第25页/共41页第二十六页，共42页。27超声波测距原理图超声波测距原理图6.3 External Sensors第26页/共41页第二十七页，共42页。28 6.3 External Sensors第27页/共41页第二十八页，共42页。296.3 External Sensors第28页/共41页第二十九页，共42页。306.3 External Se

12、nsors第29页/共41页第三十页，共42页。316.3 External Sensors第30页/共41页第三十一页，共42页。32Charge-coupled device (CCD) is a major technology for digital imaging. Although CCDs are not the only technology to allow for light detection, CCDs are widely used in professional, medical, and scientific applications where high-qua

13、lity image data is required.CCD (Charge-Coupled Device) Sensors6.3 External Sensors第31页/共41页第三十二页，共42页。33A total of 256 gray scale, from the Figure (a) to (f) followed by resolution of 512 512, 256 256,128 128,64 64,32 32,16 16.The impact of change on the image resolution6.3 External Sensors第32页/共41

14、页第三十三页，共42页。34Figure (a) to (f) with resolution of 512 512, followed by 256, 64,16,8,4, and 2 gray levels.The impact of change on the image gray 6.3 External Sensors第33页/共41页第三十四页，共42页。35Figure (a) to (f) followed by: 256 256,128-level gray scale; 181 181,64-level gray scale; 128 128,32-level gray s

15、cale; 90 90,16-level gray scale; 64 64,8-level gray scale; 45 45,4-level gray scale.The impact of changes in both resolution and grayscale6.3 External Sensors第34页/共41页第三十五页，共42页。36366.1 Introduction to Robot Sensors 6.2 Internal Sensors（内部(nib)传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Applic

16、ation Considerations 6.5 SummaryCh.6 Robot Sensors第35页/共41页第三十六页，共42页。37High precision, good repeatabilityGood stability, high reliabilityStrong anti-interference abilityLight weight, small size, easy installationCheap6.4 Robot Sensor Application Considerations第36页/共41页第三十七页，共42页。38386.1 Introductio

17、n to Robot Sensors 6.2 Internal Sensors（内部(nib)传感器） 6.3 External Sensors（外部传感器） 6.4 Robot Sensor Application Considerations 6.5 SummaryCh.6 Robot Sensors第37页/共41页第三十八页，共42页。39问题。接着分别(fnbi)讨论机器人的内传感器和外传感器。在内传感器部分，研究了位移/位置传感器、速度和加速度传感器及力觉传感器等。第38页/共41页第三十九页，共42页。40原理，并说明了应用在应该注意的问题。第39页/共41页第四十页，共42页。41Fundamentals of Robotics41第40页/共41页第四十一页，共42页。42感谢您的观看感谢您的观看(gunkn)。第41页/共41页第四十二页，共42页。