Internal sensors

Josep Amat and Alícia Casals

Automatic Control and Computer Engineering Department
 Program
Chapter 1. Introduction
Chapter 2. Robot Morphology
Chapter 3. Control
Chapter 4. Robot programming
Chapter 5. Perception
Chapter 6. Mobile robots. Architecture, components
and characteristics
Chapter 7. Robotics applications.
Robotization
 Chapter 2. Robot Morphology

2.1 – Mechanical Structures. Classical

Architectures.
2.2 – Characteristics of a Manipulator. Definitions.
2.3 - Actuators. Pneumatic, Hydraulic and
Electrical.
2.4 – Movement transmission systems: Gearboxes,
movement transmission and conversion.
2.5 – Robot internal sensors. Position sensors, speed
and acceleration.
2.6 – End Effectors.
 Components of a Robot
User
External
Environment Sensors

Programming

Internal Net
Sensors

Control Unit

Actuators
Mechanical Structure
Mechanical:

Detectors
Internal
sensors
Position
sensors

Actuators
Mechanical structure
Electromagnetic:
Detection from the variations
of the oscillation conditions of
an L – C sensor circuit

Detectors
Internal
sensors
Position
sensors

Actuators
Mechanical structure
Optical:
From the interruption of a light
beam, or reflection.

Detectors
Internal
sensors
Position
sensors

Actuators
Mechanical structure
 Types of sensors

Angular

Linear
 Types of sensors

Resistive (Potentiometers)
Analog
Angular

Digital

Vcc
R1
V = Vcc
R R2 R
R1 V = Vcc
R 
 = Vcc
 R 
0V
 Types of sensors

Resistive (Potenciometers)
Analog
Angular Inductive ( Resolver )

Digital

Ve = A sin (t) A is obtained through the lecture

in a look up table of arcsin and
arccos

Ve = A sin(t ) cos 

Ve = A sin(t ) sin 
 e
A
D/A
Low resolution conversions

S1 = V cos 
S1 A/D X 

S2 = V sin 
S2 A/D 
High resolution conversions

controler
Ve = V sin (t)
X
S1 = V sin(t ) cos 

S2 = V sin(t ) sin 
Possibility of obtaining the value of  by means of “tracking”
 Types of sensors

Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )

Absolute
Digital
Incremental
 Optical Encoder Absolute
Fotoelectric sensor

2 paths n paths
4 divisions 2n divisions
n optical barriers
Commercially
10 bits 1024 div.  Resol. 0.35º
12 bits 4096 div.  Resol. 0.088º
14 bits 16384 div.  Resol. 0.022º
Encoder diameters: de 50 a 175 mm

Ambiguity when reading the natural binary code

Elimination of the reading ambiguity using the Gray code

Example of a disc with the Gray code Example of an angular encoder
 Types of Sensors

Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )

Absolute
Digital
Incremental
 Commercially
10 bits 1024 div.  Resol. 0.35º
12 bits 4096 div.  Resol. 0.088º
14 bits 16384 div.  Resol. 0.022º
Signal obtained after
1 2 3 4 5 6 7 8 9 10 11 12
displacing the sensor
over a coded disc

Gray code
 Commercially
10 bits 1024 div.  Resol. 0.35º
12 bits 4096 div.  Resol. 0.088º
14 bits 16384 div.  Resol. 0.022º

Gray code
Possibility of detecting the counting sense using two sensors
Incremental Optical Encoder

A
B
R

1 mark = 4 divisions
 0 1

200 x 4 = 800

P Q
 Computing resolution

120 c m
.

q = 210 60 =
= 60º
360 l = 2  1200 60 =
360
q = 170,6 l = 1256 mm.
Using a a
1256 mm.
10 bits
encoder r= = 7,3 mm.
directly
170,6

s
coupled to
the motor
axis
 Measuring strategies 1:1

0 Arm

0 0  360º
Encoder

Absolute dn-1 . . Code  . . do

Incremental dn-1 . . Counter . . do

 Measuring strategies 1:n
Arm

0 360º 
n= 
0 360º
Encoder

Absolute dn-1 . . Code  . . do

Incremental dn-1 . . Counter . . do

 Measuring strategies 1:n

0 Arm 
360º
n= m

m · · · m=2 m=1
Encoder
0 360º 0 360º

Absolute + Inc. dn+p-1 . . dn-1 · · Code · · do

Incremental dn+p-1 . . dn-1 · · Counter · ·do

Encoder coupled to the arm with a transmission ratio: m x n

 Computing resolution

120 c m
.

q=8·2 10 =
= 60º
q = 8192 l = 1256 mm.
1256 mm.
Using a 10
x6 x8 r= = 0,15 mm.
bits 8192
encoder
coupled with a
1:64
transmission
ratio
 0 1 2 3 · · · 199 200

With a 10 bits A/D converter

r’ = r/1024
l = 1256 mm.
200 x 1024 = 204.800
1256 mm.
r= = 0,006 mm. Sinusoidal light obtained from
204.800 Moore interference

r < 0,01 mm.

 Types of sensors

Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )

Incremental
Digital
Absolute

Resistive
Analog Inductive ( Inductosyn )
Linear LVDT

Digital Optical rule

 R

Sensing with a linear potentiometer

 Types of sensors

Analog Resistive (Potentiometers)

Angular Inductive ( Resolver )

Incremental
Digital
Absolute

Resistive
Analog Inductive ( Inductosyn R )
Linear LVDT

Digital Optical rule

 Inductosyn sensor
0,2 mm

With two secondary sensors shifted 90º, the

resolution is: 0,2 / 28 < 0.001 mm *

* With an analog interpolation using a 8 bits ADC

 Types of sensors

Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )

Incremental
Digital
Absolute

Resistive
Analog Inductive ( Inductosyn )
Linear LVDT

Digital Optical rule

 LVDT
LVDT = Linear Voltage Differential Transformed)

ns ing
a r se n ts
e e
Lin lacem
disp
 LVDT
V1
v

V2

Linear sensing
displacements
V1 V2

V1 - V2
 Types of sensors

Resistive (Potentiometers)
Analog
Angular Inductive ( Resolver )

Incremental
Digital
Absolute

Resistive
Analog Inductive ( Inductosyn )
Linear LVDT

Digital Optical rule

 Incremental optical rule

Head reader

Absolute optical rule