technische universitt dortmund

Arbeitsgebiet Mikrostrukturtechnik

Sensor Technologies
Prof. Dr.-Ing. Andreas Neyer

Sensor Technologies

Sensor Technologies
Introduction

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A. Neyer, SENSORS, Lecture 01

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Sensors in Robotics

Industry-Robots (fixed programming, view sensors)

Service-Robots (flexible, registration of environment by sensors)

Personal-Robots (universal and multimodal assistants)

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2.1 Contact Sensors

Service robot in a medical laboratory

left and right hand drive

PA-10
Mitsubishi Heavy Industries

PA-10 arm controller ARCNET

stationary PC connected to other laboratory equipment and to a database

TCP/IP IEEE 802.11b, 11 Mbit/s

control PC with Linux and software for mobile robot and arm

RS232, 38400 bit/s

controller C167 gyro

RS422,500000 bit/s RS422, 500000 bit/s

laser range finder front and back

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A. Neyer, SENSORS, Lecture 01

odometry

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Service Robot in Space

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Terminology: Sensor - Transducer

Transducer: Elementary device capable of converting a physical non-electrical input quantity (measurand) into an electrical output quantity Sensor: In general: Complex device consisting of transducer and processing unit, e.g. for direct connection to PC In this lecture: Sensor = Transducer Elementary physical device

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Coordinate Systems of Robots

1. Internal Sensors determine by internal measurements

the actual coordinate system of the robot

Polar

Z X

Cylindrical

Cartesian

Arm and elbow (resolute)

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Classification of Sensors for Robots

2. External Sensors determine by external measurements

e.g. the position of the robot relative to the environment

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Classification of Sensors for Robots

1. Internal
1.1
1.1.1 1.1.2

2. External

Position
Angular Position Linear Position

2.1
2.1.1 2.1.2 2.1.3

Contact Sensors
Tactile Sensors Force Sensors Torque Sensors

1.2 1.3

Angular Velocity 2.2 Acceleration

2.2.1 2.2.2 2.2.3 Proximity Distance Velocity

Noncontact Sensors

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Literature
S.R.Ruocco Robot sensors and transducers Open University Press, Milton Keynes, England,1987 H.R. Everett Sensors for moblile robots A.K.Peters, Natick, MA, 1995 J.Borenstein, H.R.Everett, L.Feng Where am I? Sensors and Methods for Mobile Robot Position zum Download unter: http://www-personal.engin.umich.edu/~johannb/my_book.htm Skript: Sensor Technologies Download: www.mikrostrukturtechnik.de Lehre Sensors Username: mstsensors Password: Feldstaerke

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Sensor Technologies

Generalities about sensors Sensor characteristics

Linearity Precision / Repeatability Sensitivity / Resolution Dynamic characteristics

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Generalities
Sensor qualification according to output characteristics
Absolute sensor: Electrical ouput signal relates to input quantity with no ambiguity

Incremental sensor: Counting device with no absolute reference value

Analogue sensor: Output signal is continiuous and proportional to the physical input quantity Digital sensor: At continuous input quantities the output signal can take only discrete values

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General Considerations on Sensor Transfer Characterstics

Sensor Transfer Characteristics: Relation between measurand and electrical output signal Example: Relation between linear position (measurand) and voltage (electrical signal) at a potentiometer V
o
2 1 1

Vs
x

1 22 3 3 Physical construction

xmax
Schematic representation

Potentiometer Transfer Characteristic:

x xmax

Vs V0
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A. Neyer, SENSORS, Lecture 01

Ideal / real characteristics

V0

Voltage Vs

x xmax
Position x
xmax

Vs V0

Typical items of sensor characteristics are: Linearity Precision / Repeatability Sensitivity Resolution Dynamic characteristics (time response)
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Sensor Linearity
100

75

a) b)

Output (%FSO) 50 Linearity error +8.6% -3.4% FSO 25

25

50

75 100 Measurand (% range)

FSO: Full Scale Output a) Linear characteristic with output saturation b) Linear characteristic with +/- deviations in % of FSO
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Linearity: Terminal line

Straight line between the 0% and 100% points of the full range
100

Terminal Line
Output (%FSO)

100 Measurand (% range)

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Linearity: End-point line

End-point line: Straight line between the end points of the calibration curve
100

Output (%FSO) Calibration curve

100 Measurand (% range)

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Linearity: Best straight line

Best straight line: Line midway between the two parallel straight lines closest together and envelope all output values
100

Output (%FSO)

100 Measurand (% range)

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Precision
Precision: Tolerance (in % of FSO) within which a measurement can be repeated
100

Run 1

Run 2
Output (%FSO)

Precision within 6.6% FSO

100 Measurand (% range)

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Hysteresis
Hysteresis: Maximum difference in ouput values (in % of FSO) obtained by reversing the direction of measurement (between 0% and 100%)
100

Hysteresis 15% FSO Output (%FSO)

100 Measurand (% range)

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Sensor Sensitivity / Resolution

Sensor sensitivity: Relation between variation of electrical output signal and corresponding variation of physical input quantity Sensor resolution: Maximum change of measurand ( in % of range) without variation of sensor output signal
100

Resolution

Output (%FSO)

100
Measurand (% range)

(resolution of wirewound potentiometer)

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Dynamic Charactersistics
Dynamic characteristics: Response of the device to variations of the measurand with respect to time Frequency response: Electrical output response at sinusoid measurand varation for a certain frequency range
100
Low Pass characteristics

Percentage amplitude ratio

Band Pass characteristics

Measurand Frequency (Hz)

100

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A. Neyer, SENSORS, Lecture 01

Dynamic Charactersistics
Step response: Electrical output response at step change of input measurand
100 90

Input
Amplitude (% FSO)

Output

10
Delay time Storage time

Time

Rise time

Fall time

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