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Robot components:
Exteroceptive sensors
Robotics 1 1
Summary
! force sensors
! strain gauges and joint torque sensor
! 6D force/torque (F/T) sensor at robot wrist
! RCC = Remote Center of Compliance (not a sensor, but similar...)
! proximity/distance sensors
! infrared (IF)
! ultrasound (US)
! laser
! with structured light
! vision
! examples of robot sensor equipments
! some videos intertwined, with applications
Robotics 1 2
Force/torque and deformation
!R !R !R
>0 <0 small
!L !S !T
temperature
Robotics 1 3
Strain gauges
10 mm Wheatstone single-point bridge connection
(for accurately measuring resistance)
+
Vi + V
o
Robotics 1 4
Strain gauges in flexible arms
video
Robotics 1 6
Force/torque sensor at robot wrist
Robotics 1 7
Maltese-cross configuration
Robotics 1 8
6D force/torque sensors
! ATI series
! cost (in 2016): about 6 K# for
Mini45 model + 700 # DAQ card
Robotics 1 9
6D force/torque sensor
mounting flange
(on link 6 of the manipulator arm)
Robotics 1 10
6D F/T sensor calibration
s
fx s
µx " s fx %
$s '
$ fy '
$ s fz '
! $ sµ '
!
$s x '
$ µy '
$# s µz '&
s
s
fz force/torque measured in the
µz
s
s
µy
! frame attached to the sensor
fy
! calibration matrix
!
" c f c % " c Rs O %" s f s % output of
! !
$ c µ ' = $ S( c r ) c R Wheatstone
# c& # cs s
c
Rs '&$# s µ s '&
bridges
transformation from the sensor frame
to the load/contact frame (at TCP)
Robotics 1 ! 11
Typical uses of a F/T sensor
Robotics 1 12
Passive RCC device
! RCC = Remote Center of Compliance
! placed on the wrist so as to introduce passive “compliance”
to the robot end-effector, in response to static forces and
moments applied from the environment at the contact area
! mechanical construction yields “decoupled” linear/angular
motion responses if contact occurs at or near the RCC point
Robotics 1 13
Assembly with RCC
Robotics 1 14
Passive assembly with RCC
video
video
Robotics 1 16
Surface finishing with F/T sensor
video
Robotics 1 17
Proximity/distance sensors - 1
! infrared: a light source (LED) emitting a ray beam (at 850±70 nm)
which is then captured by a receiver (photo-transistor), after reflection
by an object
! received intensity is related to distance
! narrow emitting/receiving angle; use only indoor; reflectance varies with object color
! typical sensitive range: 4÷30 cm or 20÷150 cm
! cost: 15 #
Sharp GP2
Sensus 300
energy lobes
Robotics 1 20
Ultrasound sensor
some problems related to US wave propagation
Robotics 1 22
Polaroid ultrasound sensor
! complete “kit” with trans-receiver and
circuitry
! 3.5 ms of TOF for a front obstacle
placed at 60 cm of distance
! range: 0.5÷2.5 m
! cost: < 30 #
! typical circular mounting of 16-32 US
sensors (with a suitable sequence of
activation)
Robotics 1 23
Navigation with ultrasound sensing
! Nomad 200 with 16 US sensors (plus other not used here)
!7m
view of the robot and map of the former DIS Robotics Lab in Via Eudossiana 18
(the map is initially unknown to the robot)
Robotics 1 24
Navigation with ultrasound sensing
! grid map (unit = 10 cm) obtained by weighting successive data readings from US
sensors with fuzzy logic; “aggressive” motion planning with A* search algorithm on
graphs; reactive US-based navigation to avoid unexpected obstacles
comparison
with the
true map
Robotics 1 25
Narrow passages
! Nomad 200 navigating with 16 ultrasonic sensors (old Robotics Lab, 1995)
video
Robotics 1 26
Proximity/distance sensors – 3
! laser scanner: two-dimensional scan of the environment with a
radial field of infrared laser beams (laser radar)
! time between transmission and reception is directly proportional to the
distance to the object (Time-of-Flight)
! Hokuyo URG-04X
! size: 50$50$70 mm
! weight: 160 g
! angular range: max 240°
! angular resolution: 0.36°
! response: 100 msec/scan
! range: 0.02÷4 m
! depth resolution:
±1 cm (up to 1 m)
±1% (beyond 1 m)
! interface: RS-232, USB 2.0
! supply: 5V DC
! cost: 900 # (1140 US$)
! 2 years ago was 1750 # ...
Robotics 1 29
Localization and mapping
! SLAM (Simultaneous Localization and Mapping) with a laser scanning
sensor mounted on a mobile robot
object
laser beamer
Robotics 1 32
Structured light sensor
Robotics 1 34
Vision systems
different ways
LIGHT CAMERA to scan an
array of pixels
SYNCHRONIZATION
ANALOG analog
FG DSP CPU
ELECTRONICS video signal
Frame Grabber
shutter sensor (A/D conversion)
lens dedicated boards
VIDEO STANDARDS (low-level vision)
CCIR (Europe, Australia): 625 lines, 25 Hz high-level vision
RS170 (USA, Japan): 525 lines, 30 Hz
video signal = 1 V peak-to-peak
Robotics 1 36
CMOS versus CCD
! reduction of fabrication costs of CMOS imagers
! better spatial resolution of elementary sensors
! CMOS: 1M pixel, CCD: 768!576 pixel
! faster processing speed
! 1000 vs. 25 fps (frames per second)
! possibility of integrating “intelligent” functions on single chip
! sensor + frame grabber + low-level vision
! random access to each pixel or area
! flexible handling of ROI (Region Of Interest)
! possibly lower image quality w.r.t. CCD imagers
! sensitivity, especially for applications with low S/N signals
! customization for small volumes is more expensive
! CCD cameras have been since much longer time on the market
Robotics 1 37
Perspective transformation
image plane (with camera frame) " x f c px
XI = c + X0
f # pz offsets of pixel
2. in pixel coordinate system
" y f c py
yc YI = + Y0
w.r.t. optical axis
f # c pz
xc ( c
px , c py , c pz ) pixel/metric scaling factor
! ! ! !
Ob yb
xb calibration
! matrix
H = " cTb
f c px f c py
1. in metric units X f = Yf = intrinsic and extrinsic
c
f " pz f " pzc
Robotics 1 parameters 38
Perspective transformation
with camera frame at the lens center
new
camera
frame
real
image plane
lens lens
center center reflected (frontal)
image plane
f c px f c py f c px f c py
1. in metric units X f = " c Yf = " c Xf = c Yf = c
pz pz pz pz
" x f c px " y f c py
2. in pixel ... XI = c + X 0 YI = c + Y0
pz pz
! ! ! " c px % !
"xI % $c p ' $# x f 0 X 0 0'
3. LINEAR MAP in $y ' = ( $ y ' " = & 0
... # y f Y0 0 )
homogeneous coordinates I
$z ' c
$ pz ' & )
#!I & !
% 0 0 1 0(
$# 1 '&
Robotics 1 39
Eye-in-hand camera
camera frame
robot manipulator
base frame
object frame
Robotics 1 40
Low-level vision
contour reconstruction
original image
edge detection
adjacent pixels on
the edges are
connected
and labeled with
different colors
linear segments
fitted to the edges
Robotics 1 41
High-level vision
features matching in stereovision
Robotics 1 42
High-level vision (cont)
left: correspondence
hypotheses used to
find the best fitting
fundamental matrix
right: inconsistent
correspondences are
eliminated
corresponding line
in the two images
Robotics 1 43
Kinect
camera + structured light 3D sensor
" RGB camera (with 640$480 pixel)
" depth sensor (by PrimeSense)
" infrared laser emitter
" infrared camera (with 320$240 pixel)
" 30 fps data rate
" range: 0.5÷5 m
" depth resolution: 1cm@2m; 7cm@5m
" cost: < 90 #
video
http://youtu.be/uq9SEJxZiUg
Robotics 1 46
Nomad 200 mobile robot
! structured light vision system (laser +
camera
CCD camera)
! 480 scan lines/frame, 30 fps
laser
! range: 45÷300 cm
! 16 infrared sensors
! range: % 60 cm, readings every 2.5 msec
bumpers
! 20 pressure-sensitive bumpers
! radio-ethernet communication
Robotics 1 47
Magellan Pro mobile robot
! 16 sonar sensors
! 16 infrared sensors
! 16 pressure-sensitive bumpers
! ethernet radio-link
Robotics 1 48
Manipulators and vision systems
! stereovision with two external cameras, fixed in
the environment (eye-to-hand)
SLAVE MASTER
Object
L-Camera R-Camera
Robotics 1 49
Manipulators and vision systems
! CCD camera mounted on the robot for controlling the
end-effector positioning (eye-in-hand)
Robotics 1 50
Visual tracking eye-to-hand
video
video
video
Visual servoing of a point feature (m=2) with Adept Viper robot (n=6):
redundancy is used for avoiding joint range limits (IRISA/INRIA, Rennes)
Robotics 1 53
Visual servoing with mobile robot
pan/tilt (2 dof)
web cam at 7Hz
frame rate
video
video