Part

Proprioceptive sensors

You might say: internal sensors, body sense

Proprioceptive sensors measure the robot itself: joint position, motor current, acceleration, angular rate, force and temperature.

What it does

They feed joint control, body-state estimation, odometry and collision detection.

Ask

Are the internal readings accurate and fast enough for the control loop?

What to look for

1. Joint position and motor current readings
2. Acceleration and angular rate readings
3. Force and temperature readings

Parts

• Encoder: An encoder reports shaft angle or position from pulses or an absolute coded scale.
• IMU: An IMU combines accelerometers and gyroscopes to measure specific force and angular rate on three axes each.
• Force-torque sensor: A six-axis force-torque sensor measures three forces and three moments, usually between the wrist and tool.

Sources

1. David V. Gealy et al., Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation, p. 4, 14-bit encoder, current, accelerometer and temperature sensors14-bit absolute on-axis magnetic encoding for motor commutation and robot position sensing; 12-bit current sensing for closed-loop current (and thus torque) control of each servomotor; a 3-axis accelerometer for state estimation, collision detection and control.
2. Bosch Sensortec, BMI088 High-performance Inertial Measurement Unit, Technical specificationsBMI088 is offering a wide acceleration measurement range (up to 24 g), high vibration suppression ratio and vibration robustness.

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