Sensors in Robotics,Final Report

8/13/2019 Sensors in Robotics,Final Report

1/10

Seminar Report

on

ROBOT MOTION AND LEG MECHANISMS

Submitted By

Ashini ! S! Manth"o#

$%BI&'MMD&()

In Partial Fulfillment of

MASTER DEGREE

IN

MACHINE DESIGN

OF THE

VISHVESHWARIAH TECHNOLOGICAL UNIVERISITY, BELGAUM

Department o* Me+hani+a# En"ineerin"

BANGALORE INSTITUTE OF TECHNOLOGY

,, -.RAM BANGALORE/012303

2&&'/2&&4


2/10

CERTIFICATE

Certi*ied that the seminar report entit#ed

5SENSORS IN ROBOTICS6

is bona*ied or7 +arried by ASH8INI S MANTHGOL In partia#

*u#*i##ment o* the re9uirement *or the aard o* de"ree o* Ma+hine

Desi"n o* ,i:esharaih Te+hno#o"i+a# .ni:ersity; Be#"aum durin" year

2&&'/2&&4! It is +erti*ied that a## the +orre+tion


3/10

ACKNOWLEGEMENTS

A "reat dea# o* time and e**ort has "one into su++ess*u# e=e+ution o* my

seminar and preparation o* this seminar report! I ou#d #i7e to a+7no#ed"e the

+ontribution *rom :arious sour+es and peop#e ho ha:e been instrumenta# in the

su++ess o* this endea:or!

I ish to p#a+e on re+ord my heart/*e#t than7s to Dr.T.Jagadis,Head o* the

Department; Ma+hine Desi"n; BIT *or his e:er inspirin" support and

en+oura"ement!

I sin+ere#y e=press my "ratitude to A!! S"a##, Ma$i%& D&sig%, BIT *or their

7ind +o/operation in "uidin" me in the seminar


4/10

SENSORS IN ROBOTICS

I%"r'd($"i'% )

The term robot deri:es *rom the C>e+h ord robota; meanin" *or+ed or7 or

+ompu#sory ser:i+e; or robotni7; meanin" ser*! Robot +an be de*ined as ?A

repro"rammab#e; mu#ti*un+tiona# manipu#ator desi"ned to mo:e materia#; parts;

too#s; or spe+ia#i>ed de:i+es throu"h :arious pro"rammed motions *or the

per*orman+e o* a :ariety o* tas7s6!

Roboti+s has matured as a system inte"ration en"ineerin" *ie#d de*ined by M!

Brad#ey as 5the inte##i"ent +onne+tion o* the per+eption to a+tion6! -ro"rammab#e

robot manipu#ators pro:ide the 5a+tion6 +omponent! A :ariety o* sensors and

sensin" te+hni9ues are a:ai#ab#e to pro:ide the 5per+eption6!

Sensor / an e#e+tri+a#


5/10

or a robot to a+t su++ess*u##y in the rea# or#d it needs to be ab#e to per+ei:e the

or#d; and itse#* in the or#d! In parti+u#ar; to +ontro# its on a+tions; it needs

in*ormation about the position and mo:ement o* its body and parts! Our body

+ontains at #east as many sensors *or our on mo:ement as it does *or si"na#s *rom

the or#d

S&%s'rs Wa" Ca% B& S&%s&d-

In or7in" +ondition o* the robot hat +an be a robot sense!

Li"ht -resen+e; +o#or; intensity; +ontent $mod); dire+tion

Sound -resen+e; *re9uen+y; intensity; +ontent $mod); dire+tion

Heat Temperature; a:e#en"th; ma"nitude; dire+tion

Chemi+a#s -resen+e; +on+entration; identity; et+!

Obe+t -ro=imity -resen+e


6/10

o send si"na# into en:ironment and measure intera+tion o*

si"na# ith en:ironment

o e!"! radar; sonar

-assi:e

o re+ord si"na#s a#ready present in en:ironment

o e!"! :ideo +ameras

DIFFERENT TY/ES OF SENSORS

Ta$"i!& S&%s'rs)it is used to te## us i* e hit somethin"!

E=amp#es o* ta+ti#e sensors Ma"neti+,

.#trasoni+; Mi+roa:e and Opti+a#!

Ti0& '# F!ig" s&%s'rs it is used to te## us ho *ar obe+ts are *rom us

E=amp#es o* ta+ti#e sensors.#trasoni+ and Laser / Based

C'0ass&s it is used to measure hi+h ay is north

E=amp#es o* +ompasses Me+hani+a#; #u="ate and Ha##/E**e+t!

Mis&!!a%&'(s) it is used to te## us thin"s about our en:ironment!

E=amp#es o* mis+e##aneous Gyros+opes; Motion Dete+tion; Smo7e; -ressure;

Temperature!

Si0!& $'00'%!* (s&d ra$"i$a! S&%s'rs

Tou+h sensors

Ti#t sensors

En+oders

Bend sensors

Li"ht sensors


7/10

Temperature sensors

-otentiometer

Laser ran"e*inders

Cameras

Ta$"i!& S&%s'rs

Ta+ti#e sensors are de:i+es hi+h indi+ate +onta+t beteen themse#:es and some

other so#id obe+t! Main#y used *or +o##ision dete+tion! I* the sit+h +onne+ts;

e#e+tri+ity passes and e +an dete+t a 5hit6!

T'($ S&%s'rs

H'1 "is T'($ S&%s'rs 1'r2s

A tou+h sensor or7s #i7e a #i"ht sit+h in your house! 8hen the button is pressed;

an e#e+tri+a# +ir+uit is +#osed inside the sensor! This #ets e#e+tri+ity *#o! 8hen the

button is re#eased; the +ir+uit is bro7en and no e#e+tri+ity *#os! The RCF +an

sense this *#o o* e#e+tri+ity; so it 7nos i* the tou+h sensor i* pressed or re#eased!


8/10

force voltagemeasurement

electrical flow

Us&s)

Dete+t +onta+t beteen the robot and e=terna# obe+ts #i7e a##s!

Dete+t +onta+t ith interna# mo:in" parts in the robot $arm or "ripper)!

Tab#eBot / dete+t +onta+t ith the "round so the robot doesnt *a## o** the

tab#e!

Input De:i+e / push button or 5remote6 +ontro#!

S&%s'r d&3i$&s (s&d i% r'+'" 1'r2 $&!!s

Strain "au"e $*or+e sensor) +ommon transdu+er used to measure *or+e;

tor9ue; pressure; other re#ated :ariab#es! Can be used to indi+ate *or+e

app#ied to "rasp an obe+t!

Themistor De:i+e based on e#e+tri+a# resistan+e used to measure

temperature!

,oi+e sensors ad:an+ed sensor system used to +ommuni+ate +ommands or

in*ormation ora##y to the robot!

,ision sensors to :ie and interpret e:ents o++urrin" in the robot

or7p#a+e!

-otentiometer E#e+tri+a# meter used to measure :o#ta"e


9/10

In*rared sensor $pro=imity sensor) +an be used to indi+ate presen+e or

absen+e o* a hot obe+t

Mi+ro sit+h $tou+h sensor) +an be used to indi+ate presen+e or absen+e o*

an obe+t

-ie>oe#e+tri+ a++e#erometer sensors used to indi+ate or measure :ibration!

D&sira+!& F&a"(r&s '# "& s&%s'rs

A++ura+y

-re+ision series o* measurements i## be minimi>ed

Speed o* response

Ca#ibration Sensors shou#d not re9uire *re9uent +a#ibration

Re#iabi#ity

Cost and ease o* operation

Us&s '# s&%s'rs i% r'+'"i$s

Sa*ety monitorin"

Inter#o+7s in or7 +e## +ontro#

-art inspe+tion *or 9ua#ity +ontro#

Determinin" positions and re#ated in*ormation about obe+ts in the robot

+e##


10/10

BIBLIOGRA/HY

Industria# roboti+s by Mi7e## -! Groo:er; Mit+he## eiss;

Ro"er N!Na"e#; Ni+ho#as G! Odrey

!"oo"#e!+om

!a+roname!+om

!#yn=motion!+om

!drrobot!+om

!robotstoreh7!+om

Documents

Sensors in Robotics,Final Report