2275120 Robotika 1
Sensor Robot
(materi lanjutan)
Nuryono S.W., S.T.,M.Eng.
Prepare for your exams
Study with the several resources on Docsity
Earn points to download
Earn points by helping other students or get them with a premium plan
Guidelines and tips
Prepare for your exams
Study with the several resources on Docsity
Earn points to download
Earn points by helping other students or get them with a premium plan
Community
Ask the community
Ask the community for help and clear up your study doubts
University Rankings
Discover the best universities in your country according to Docsity users
Free resources
Our save-the-student-ebooks!
Download our free guides on studying techniques, anxiety management strategies, and thesis advice from Docsity tutors
Sensor Types and Applications in Robotics - Prof. Marvin, Lecture notes of Wireless Sensor Networks
An overview of various sensor types used in robotics, including feelers (whiskers and bumpers), IR sensors (active and passive), ultrasonic sensors (active and passive), and visual and color sensors. Each sensor type is discussed in detail, including its components, working principle, and applications.
What you will learn
- How does a feeler sensor work?
- What are the applications of visual sensors in robotics?
- What is the difference between active and passive IR sensors?
- How does an ultrasonic sensor detect objects?
- What are the different types of sensors used in robotics?
Typology: Lecture notes
2018/2019
1 / 56
This page cannot be seen from the preview
Don't miss anything!
Related documents
Partial preview of the text
Download Sensor Types and Applications in Robotics - Prof. Marvin and more Lecture notes Wireless Sensor Networks in PDF only on Docsity!
2275120 Robotika
Sensor Robot
(materi lanjutan)
Nuryono S.W., S.T.,M.Eng.
2275120 Robotika
Contoh Sensor Robot
• Feelers (Whiskers, Bumpers) – Mekanis• Photoelectric• Infrared• Ultrasonic• Resistive/Capacitive/Inductive
2275120 Robotika
Sensor – Feelers
•^
Whiskers (sungut)– Senar gitar/piano yg diletakkan di antara conductive
“hoop”
- Adanya defleksi menyebabkan kontak dengan “hoop”– Kawat yg lentur yg menyentuh suatu batang konduktor
ketika terdefleksi
- Menjangkau di depan robot dalam beberapa cm– Sederhana, murah, keluaran biner -^
Bumpers & Guards– Sensor benturan/tumbukan Impact/Collision sensor,
mendeteksi adanya tekanan/kontak
- Microswitch & kawat– Sederhana, murah, keluaran biner
2275120 Robotika
Feelers - Whiskers
2275120 Robotika
Sensors – IR
•^
Aktif (emitting)– Oscillator membangkitkan Pulsa IR, memantul ketika
bertemu benda/obyek
- Filtered receiver mencari pantulan tsb– Pulsa dienkode untuk deteksi yg lebih efektif– Frekuensi yg digunakan sekitar 40KHz– Tidak terlalu baik ketika bertemu obyek yg gelap -^
Pasif (hanya sensor tanpa emitting)– Pyro-electric (heat sensor)– Mencari emisi IR dari manusia dan binatang– Biasa dipakai pd sistem keamanan dan deteksi gerakan
2275120 Robotika
Infrared - Active
2275120 Robotika
Linear Array IR Range
Sensors
- Sharp GP2Dxx (satu
contoh)
- ~4 to 30cm Range• Output Analog atau
Digital
2275120 Robotika
Laser Range Sensors
• USB Interface• 240º Field of View• 0.36º Angular
Resolution
• 10Hz Refresh Rate• 20mm s/d 4m• $
2275120 Robotika
Passive IR – Pyro-Electric
2275120 Robotika
Sensor Ultrasonic
•^
Aktif– Membangkitkan pulsa dan menunggu pantulannya pulses
& listen for echos
- Terkait dengan kecepatan rambat di udara (~1ft/mS)– Bisa menjangkau daerah yg jauh dari robot ( bisa s/d 3m)– Prinsip kerja sederhana, tidak murah, keluaran analog atau
digital
- Directional; tidak semua benda memantulkan -^
Pasif– Sensor “mendengarkan” adanya gelombang ultrasonic– Rangkaian Electronik mengubahnya ke frekuensi atau
modulasi
- Software melakukan analisis (FFT dsb)
2275120 Robotika
Sensor Ultrasonic
• Pasif - Beacon & Sensor
- Beacons menunggu RF command untuk
memancarkan
- Cahaya atau gelombang suara• Robot mencari & mendengarkan setiap beacon
- Robot mengetahui lokasi tiap beacon– Kompas pada robot memberi informasi
tentang arah (orientasi) beacon tersebut
- Robot dapat menghitung posisinya
2275120 Robotika
Beacon
Beacon
Sound Pulse
Sound Pulse
Robot
Light Pulse
BEACON RF ReceiverIR EmitterUltrasonic Emitter
Beacon
Light Pulse
Sound Pulse
ROBOT RF TransmitterIR ReceiverUltrasonic Receiver Light Pulse
Sensor Ultrasonic
2275120 Robotika
Sensor Resistan
• Contoh Potentiometer
2275120 Robotika
Potensiometer
-^