Study of Robotic Sensors

Paper by

R.Dilip.Rao
VII Sem Mechanical Engg
S.D.M.Engineering College
Dharwad

E-mail-cooldilip@hotmail.com
Abstract
This paper is an effort towards learning about different robotic sensors and their
applications to conclude with.

Introduction
A sensor is a type of transducer, or mechanism that responds to a type of energy by
producing another type of energy signal, usually electrical. They are either direct
indicating (an electrical meter) or are paired with an indicator (perhaps indirectly through
an analog to digital converter, a computer and a display) so that the value sensed is
translated for human understanding. Types of sensors include electromagnetic, chemical,
biological and acoustic.

In order to act as an effectual sensor, the following guidelines must be met:

The sensor should be sensitive to the measured property

The sensor should be insensitive to any other property

The sensor should not influence the measured property

In theory, when the sensor is working perfectly, the output signal of a sensor is exactly
proportional to the value of the property it is meant to measure. The gain is then defined
as the ratio between output signal and measured property. For example, if a sensor
measures temperature and has an actual voltage output, the gain is a constant with the
unit.

When the sensor is not perfect, various deviations can occur, including gain error, long
term drift, and noise. These and other deviations can be classified as systematic, or
random, errors. Systematic deviations may be compensated for by means of some kind of
calibration strategy. Noise is an example of a random error that can be reduced by signal
processing, such as filtering, usually at the expense of the dynamic behavior of the
sensor.

Few of the sensors used in general applications are listed below along with their
description, picture and typical use.
Name Picture Description Typical Use Robotic
robot obstacle
range based on time detection through
of flight of radio rain and snow, Collecting dish and
Radar
energy pulses, range range 1-64m 2deg, waveguide make this difficult
a function of antenna size 30cm radius, to apply to smaller robots.
size (ft to miles) 0.25m resolution,
1.5m separation

range based on time

of flight of radio automatic door waveguides dominate size,
Radar
energy pulses, range openers for high frequency components
Microwave
a function of antenna department stores (50+ GHz)
size (ft to miles)

4-150m range, 15xl8xl5cm,

based on reflection
becoming popular 0.5% angle, 50mm range
and triangulation.
Sick Laser platform in resolution, processing
Spinning laser strip
robotics required, 24vdc Most limiting
and reflected light
aspect is size.

based on
Used alot for
triangulation with
Lidar atmospheric
internal psd, these Fast electronics required
Light analysis. Some
original designs were (1ns=5in), large optics area,
Detection work in obstacle
very expensive and range error up to 5m
and Ranging detection for
not readily available
robots
5m to 20km

combined laser
stripping (laser w/ Grocery store
spinning mirror) with scanners, bar code Most difficulty in measuring
Scanning
video camera, range a readers Some TOF of laser, needs fast
laser
function of height in limited application electronics. Some optics
w/detector
video image, to obstacle required as well
difficulties in detection in robots
alignment of optics

Detector essentially a
large capacitor with
an ultrasonic
Obstacle range
resonance Same
Electrostatic detection, tank Requires high bias voltages
detector can transmit
Ultrasonics level, stud and drive currents.
and receive. Wide
detection
frequency response
(50kHz), good
sensitivity.
complete sonar
Polaroid rangefinder w/analog Staple of most
300V 2amp transducer surge
Sonar interface. Range robotic platforms
30cm to 6m
Acknowledgements
I would like to thank my teachers Sri K.A.Sateesh, Sri G.R.Sattigeri, Sri
Prashant Marikatti for reviewing the paper and all the teachers in my
department. I also wish to thank google for providing a wide database of
information on robotics.

References
1) Robot Mechanisms and Mechanical Devices—Paul.E.Sandin
2) Google search engine.