Robotic Sensors

Introduction

A robot needs sensors to work in an unstructured environment, where it must respond to changes around it.

In robotics, sensors are mainly used for:

• measuring parameters to model and control the robot
• monitoring interaction with the environment, such as forces during compliant motion
• finding the location of objects
• detecting and avoiding collisions
• detecting and avoiding failure situations
• monitoring changes in the environment, for example temperature
• inspecting the results of processes

Classification

Robotic sensors are in two main groups.

flowchart TD
    S["Robotic sensors"] --> I["Internal state sensors<br/>(the robot)"]
    S --> E["External state sensors<br/>(the environment)"]
    I --> I1["Position, velocity, acceleration<br/>e.g. encoders"]
    E --> E1["Range, proximity, touch<br/>e.g. laser, ultrasonic, tactile"]

• Internal state sensors measure variables of the robot, such as position, velocity or acceleration
• External state sensors measure variables of the environment, such as range, proximity and touch

Internal state sensors

• Absolute Encoders
• Incremental Encoders
• Robot Calibration using Incremental Encoder
• Velocity Measurement using Encoder

External state sensors

• Range Sensing
• Proximity Sensors
• Force and Torque Sensors
• Tactile Sensors

Important

Position sensors and force/torque sensors give the basic information to control the robot. Range, proximity and tactile sensors tell the robot about objects around it.