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3630-08-lec8 - Introduction Sensor Classication Sensors...

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Introduction Sensor Classification Sensors Wrap up Robot Sensors Henrik I Christensen Robotics & Intelligent Machines @ GT Georgia Institute of Technology, Atlanta, GA 30332-0760 [email protected] Henrik I Christensen ([email protected]) Sensors 1 / 42
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Introduction Sensor Classification Sensors Wrap up Outline 1 Introduction 2 Sensor Classification 3 Sensors 4 Wrap up Henrik I Christensen ([email protected]) Sensors 2 / 42
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Introduction Sensor Classification Sensors Wrap up The Robot Structure Henrik I Christensen ([email protected]) Sensors 3 / 42
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Introduction Sensor Classification Sensors Wrap up Robots and Sensors Henrik I Christensen ([email protected]) Sensors 4 / 42
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Introduction Sensor Classification Sensors Wrap up Robots and Sensors Crossbow DMU-6x (INS) SICK LMS 291 laser scanner AXIS WebCam or SONY XC777 Stereo cameras 3Com WLAN 802.11b Trimble 212DL DGPS iRobot ATRV Polaroid 6500 UltraSound KVH-100 Compass Bumpers Henrik I Christensen ([email protected]) Sensors 5 / 42
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Introduction Sensor Classification Sensors Wrap up Robots and Sensors Henrik I Christensen ([email protected]) Sensors 6 / 42
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Introduction Sensor Classification Sensors Wrap up Sensors Uncertainty in the layout of the environment due to lack of models or unknown dynamics Execution of commands is uncertain due to imperfect actuation Sensors are needed to cope with the uncertainty and provide an estimate of “robot state” and environmental layout. Henrik I Christensen ([email protected]) Sensors 7 / 42
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Introduction Sensor Classification Sensors Wrap up Outline 1 Introduction 2 Sensor Classification 3 Sensors 4 Wrap up Henrik I Christensen ([email protected]) Sensors 8 / 42
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Introduction Sensor Classification Sensors Wrap up Sensor classes Sensing is divided according to the purpose: Proprioception Estimation of the internal state of the robot. Configuration, temperature, current, speed of axis, ... Exteroception Estimation of the state of the environment with respect to robot Sensors are also divided according to measurement principle Passive Uses ambient energy to perform the measurement Active Transmits energy into environment to allow measurements Henrik I Christensen ([email protected]) Sensors 9 / 42
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Introduction Sensor Classification Sensors Wrap up Sensors in mobile robotics Classification Sensor Type PC/EC A/P Tactile sensors Switches/Bumpers EC P Optical barriers EC A Proximity EC P Haptic sensors Contact arrays EC P Force/Torque EC/PC P Resistive EC P Motor/Axis sensors Brush Encoders PC P Potentiometers PC P Resolvers PC A Optical encoders PC A Magnetic encoders PC A Inductive encoders PC A Capacity encoders EC A Henrik I Christensen ([email protected]) Sensors 10 / 42
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Introduction Sensor Classification Sensors Wrap up Sensors for mobile robots Classification Sensor Type PC/EC A/P Heading sensors Compass EC
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