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The human sensory system encompasses sensors of vision and hearing, kinesthetic sensors (movement, force and touch), sensors of taste and smell. These sensors deliver input signals to the brain which, on the basis of sensory information, builds its own image of the environment and takes decisions for further actions. Similar requirements are valid also for robot mechanisms. However, because of the complexity of human sensing, the robot sensing is limited to fewer sensors.
The use of sensors is of crucial importance for efficient and accurate robot operation. In general the robot sensors can be divided into: (1) proprioceptive sensors assessing the internal states of the robot mechanism (positions, velocities and torques in the robot joints) and (2) exteroceptive sensors delivering to the controller the information about the robot environment (force, tactile, proximity and distance sensors, robot vision).
KeywordsCamera Frame Home Position Optical Encoder Robot Vision Robot Joint
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