Unit 3- Advanced Robot
Programming Techniques
Unit 3: Advanced Robot Programming
Techniques
• Sensor Integration: Tactile, position, velocity, and force sensors for
robot interaction and feedback
• Path Planning and Interpolation: Techniques for generating smooth
robot motion paths between programmed points
• Vision Systems for Robotics: Introduction to robot vision systems,
image processing basics for object recognition and grasping
• Safety Programming: Emergency stop procedures, safety interlocks,
robot programming considerations for safe operation
Sensors
• A device which provides a usable output in response to a specified
measurand.
• Sensor is a device that acquires a physical parameter and changes it
into a signal that can be processed by the system.
• Ex. Temperature, pH, velocity, rotational rate, flow rate, pressure, etc
• A sensor is a device that receives and responds to a signal or stimulus.
A device that detects and measure a signal.
Robot Sensors
• Sensors are devices for sensing and measuring geometric and physical
properties of robots and the surrounding environment.
• Position, orientation, velocity, acceleration
• Distance, size
• Force, moment
• Temperature, weight
Need of Sensor
• The sensors are one of the useful technologies, which play a vital role
in the robotics field.
• There are four important categories where uses of sensors are highly
required in robotics such as:
• Safety Monitoring
• Interlocking in work cell control
• Quality control in work part inspection
• Data collection of objects in the robot work cell
Basic Requirement of Sensor
Classification of Sensors –
• Sensors can be classified based on several criteria:
• 1. Based on Physical Property
• 2. Based on Energy Source
• 3. Based on Output Signal
• 4. Based on Contact Type
• 5. Based on State
Classification Based on Physical Property
• 1. Temperature Sensors:
• Example: Thermocouples, RTDs
• Detect temperature changes.
• 2. Pressure Sensors:
• Example: Barometers, Piezoelectric Sensors
• Measure fluid or air pressure.
• 3. Proximity Sensors:
• Example: Capacitive, Inductive Sensors
• Detect the presence or absence of an object.
• 4. Light Sensors:
• Example: Photodiodes, LDRs
• Detect light intensity or presence.
Classification Based on Energy Source
• 1. Active Sensors:
• Require external power to operate.
• Example: Piezoelectric sensors.
• 2. Passive Sensors:
• Do not require external power, generate output signals by
themselves.
• Example: Thermocouples.
Classification Based on Output Signal
• 1. Analog Sensors:
• Provide continuous output in the form of voltage or current.
• Example: LDR, Thermistors.
• 2. Digital Sensors:
• Provide discrete (on/off) signals.
• Example: Proximity sensors, Digital temperature sensors.
Classification Based on Contact Type
• 1. Contact Sensors:
• Requires physical contact with the object.
• Example: Limit switches, Pressure sensors.
• 2. Non-Contact Sensors:
• Detect changes without physical contact.
• Example: Infrared, Ultrasonic sensors.
Classification Based on State
• 1. Internal Sensors:
• Used to operate the drive units.
• Example: Position, Velocity, Acceleration, Force/Moment sensors.
• 2. External Sensors:
• Used to collect information of the environment.
• Example: Temperature, Vision, Proximity sensors.
