Chapter 1 - Robotics Hardware Fundamentals
What is Sensing System?
A sensing system allows a robot to perceive its environment. It consists of various sensors that gather data, which is processed by the robot’s control system to make decisions. The interaction is done by a combination of sensors and actuators.
Types of Sensing Systems
1. Vision and Imaging Sensors
• Cameras (RGB, Monochrome, HDR) – Capture images for object detection, recognition, and tracking.
• Depth Cameras (e.g., Intel RealSense, Kinect) – Measure distances using stereo vision or structured light.
• LiDAR (Light Detection and Ranging) – Uses laser beams to create a 2D/3D map of the environment (used in autonomous vehicles or Aerial Robots).
• Infrared (IR) Sensors – Detect heat signatures (used in night vision and motion tracking).
• Thermal Cameras – Detect temperature variations for firefighting, medical robots.
2. Motion and Position Sensors
• Inertial Measurement Unit (IMU) – Combines an accelerometer, gyroscope, and magnetometer to track motion.
• Accelerometers – Measure changes in speed and direction (used in balance control).
• Gyroscopes – Measure angular rotation (used in drones, self-balancing robots).
• Encoders (Optical, Magnetic, Rotary) – Track motor shaft movement for precise positioning (used in robotic arms and wheels).
• GPS (Global Positioning System) – Provides geolocation data (used in outdoor robots, drones, autonomous cars).
3. Proximity and Distance Sensors
• Ultrasonic Sensors – Measure distance using sound waves (used in obstacle avoidance).
• Infrared (IR) Proximity Sensors – Detect nearby objects based on reflected IR light.
4. Touch and Force Sensors
• Tactile Sensors – Detect pressure, texture, and grip force (used in robotic hands and prosthetics).
• Force/Torque Sensors – Measure force applied to robotic joints (used in collaborative robots, industrial robotics).
• Piezoelectric Sensors – Convert mechanical stress into an electrical signal (used in impact detection).
5. Environmental Sensors
• Temperature Sensors – Measure heat variations (used in HVAC, industrial monitoring).
• Humidity Sensors – Monitor moisture levels (used in agricultural robots).
• Gas Sensors – Detect gases (e.g., CO₂, methane, toxic gases in hazardous environments).
• Radiation Sensors – Measure exposure to radioactive materials (used in nuclear robots).
6. Audio and Speech Sensors
• Microphone Arrays & Sound Sensors – Capture audio signals for speech recognition and voice commands (used in AI assistants, social robots).
• Vibration Sensors – Detect mechanical vibrations for predictive maintenance.
7. Biological & Medical Sensors (For Healthcare Robots)
• Electroencephalography (EEG) Sensors – Measure brain activity.
• Electromyography (EMG) Sensors – Detect muscle signals (used in robotic prosthetics).
• Electrocardiogram (ECG) Sensors – Monitor heart activity.
How Sensing Systems Work Together in a Robot
1. Data Collection – Sensors capture real-world data (e.g., a camera detects an object).
2. Signal Processing – The robot’s control system processes and interprets the data.
3. Decision Making – Based on the data, the robot decides on an action (e.g., a mobile robot avoids an obstacle).
4. Actuation – The robot executes the action using motors or effectors.