Part
Sensors
You might say: sensing
Sensors measure the robot's own state and the world around it. Controllers use those measurements to close motion, contact and navigation loops.
- What it does
- They provide the evidence used to estimate state and correct errors.
- Ask
- What is measured, with what noise, rate, delay, frame and calibration?
What to look for
- Measurements of robot state and world
- Motion, contact and navigation feedback
- Noise, rate, delay and frame in readings
Parts
- Proprioceptive sensors: Proprioceptive sensors measure the robot itself: joint position, motor current, acceleration, angular rate, force and temperature.
- Exteroceptive sensors: Exteroceptive sensors measure the external scene: images, depth, laser ranges and point clouds.
- Calibration: Calibration estimates sensor parameters and relative poses so measurements agree with a robot and object frame.
Sources
- David V. Gealy et al., Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation, p. 4, motor drivers and sensors
Each driver board is equipped with the following sensors: 14-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.
- Mark W. Spong, Seth Hutchinson and M. Vidyasagar, Robot Modeling and Control, Ch. 1 §§1.2.2–1.2.3
Unlike joint sensors, which give information about the internal configuration of the robot, cameras can be used not only to measure the position of the robot but also to locate objects in the robot's workspace.
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