Industrial Robotics

Lecture 3: Review of Actuators and Sensors

Actuators
Actuators
Function units of a robot
Actuation System
Motion transmission gears
Transmission in robotics
Transmission Gears
Harmonic Drives
Optimal Choice of Ratio
Transmission in industrial robots
Inside views of Industrial Kuka Robot
Desired Characteristic for Robot Servomotors
Servomotors
Advantages
Electrical Servomotors for Robots
Advantages of brushless motors
Principle of a DC Motors
Characteristic curves of a DC motor
DC Electrical Motor (Mathematical model)
Data Sheet Electrical Motors
Data Sheet Electrical Motors
 Exploded
View of Joint
(DLR-III
robot)
Proprioceptive Sensors
Properties of Measurement System
Accuracy and Repeatability
Accuracy in Repeatabilty
Properties in Measurement System
Linearity, Offset, Resolution
Sensor Measurement (non-idealities)
Classes of Sensors for Robots
Position Sensors
Absolute Encoders
Absolute Encoding
Use of Absolute Encoders
Incremental Encoders
Incremental Encoders
Signal Procecssing
Count Multiplication
Quadrature Detection in Incremental Encoders
Accuracy in Incremental Encoders
Indirect Measure of Velocity
Kinematics Kalman Filter (velocity estimation)
Velocity Sensor
DC Tachometer
Accelerometers
Operation Principle (seismic accelerometer)
Frequency Characteristics (piezoelectric accelerometer)
MEMS Accelerometer
Mounting Accelerometer on Robots
Exteroceptive Sensors
Force/torque Deformation
Strain Gauges
Torque Sensor and Robot Joints
Force/torque Sensor at Robot Wrist
Maltese-cross
Configuration
6D Force/torque Sensors
6d Force/torque Sensor
6D F/T Sensor Calibration
Typical Use of a F/T Sensor
Passive RCC Device
Assembly
with RCC
Proximity/distance Sensors -1
Infrared Sensor
Proximity Sensor 2
Ultrasound Sensor
Range Limit Utrasound Sensor
Polaroid Ultrasound Sensor
Navigation with ultrasound sensing
Navigation with Ultrasound Testing
Proximity Distance Sensors 3
Laser Scanner (small)
Rotating Laser Scanner
Localization and Mapping
Proximity/distance sensors - 4
Structured light sensor
Use of Structured Light Sensor
Vision Systems
Sensors for
Vision
CMOS vs CCD
Perspective Transformation
Perspective transformation (camera at the
lens centre)
Eye-in-hand Camera
Low-level Vision (contour)
High Level Vision
High Level Vision
Kinect (camera + structured light 3D Sensor)
Kinect (Depth Sensor Operation)
Nomad 200
mobile robot
Magellan Pro
Mobile
Robot
Manipulators
and Vision
System
Manipulators
and Vision
System