Classification of robotic sensors

Reprinted: Http://www.jqr8.com/thread-1403-1-1.html

With the increasing intelligence of robots, whether the remote control robot, the interactive robot or the autonomous robot, it is necessary to use the sensor to perceive various parameters of itself and the external environment more and more, and then provide the data reference for the control and decision system to make the appropriate response. From imitating the function of human eyes, ears, nose, and hands, the sensors of vision, hearing, smell and touch have already entered the practical stage, and the corresponding sensors such as proximity, slip, pressure, research telepresence and so on have gained considerable development, so that modern robots have the ability to perceive and respond to human beings.

There are several classification methods for robotic sensors.

(1) According to the principle of sensor detection, the robot sensor can be divided into resistance, capacitance, inductance, voltage, Eddy Current, photoelectric, piezoelectric, thermoelectric, magnetic, magnetic resistance, Hall, strain, ultrasonic, laser and other sensors;
(2) According to the different physical quantities of the sensor, the robot sensor can be divided into visual sensor, auditory sensor, olfactory sensor, tactile sensor, proximity sensor, sliding sensor, pressure sensor, force sense sensor, etc.
(3) Depending on the sensor detection object, the robot sensor can be divided into internal sensor (or inside sensor) and external sensor (or outside sensor). The internal sensor is used to detect the robot's own state of the sensor, the detection amount is position/attitude angle, speed/angular velocity, acceleration/angular acceleration, internal force/internal force moment and so on. External sensor is used to detect the environment and condition of the robot sensor, the detection amount is distance, external force/external torque, sound, image, etc.
(4) According to the characteristics of the sensor output signal, the robot sensor is divided into analog sensors, digital sensors and switch-type sensors.