Question

Question 1 a) Explain the role of the following sensors, and classify them as active/passive and internal/external (and explain why): * Laser range finder * Contact switches * GPS * Optical encoders * Potentiometer b) On the sensor signal graph in Figure 1, what would the output signal look like for the following scenarios: * sensor with low precision and high accuracy * sensor with high precision and high accuracy * sensor with high precision and low accuracy * sensor with low precision and low accuracy Signal value Time Figure 1: Sensor signal (bold line is the true signal and dashed lines are the sampling instances) c) How does the resolution, precision and accuracy of the robot's joint angle sensors affect the forward and inverse kinematics of robot manipulators? d) Describe the procedure to perform the calibration of an ultrasonic sensor, and also state all assumptions in doing it.

          Question 1
a) Explain the role of the following sensors, and classify them as active/passive and internal/external (and explain why):
* Laser range finder
* Contact switches
* GPS
* Optical encoders
* Potentiometer
b) On the sensor signal graph in Figure 1, what would the output signal look like for the following scenarios:
* sensor with low precision and high accuracy
* sensor with high precision and high accuracy
* sensor with high precision and low accuracy
* sensor with low precision and low accuracy
Signal value
Time
Figure 1: Sensor signal (bold line is the true signal and dashed lines are the sampling instances)
c) How does the resolution, precision and accuracy of the robot's joint angle sensors affect the forward and inverse kinematics of robot manipulators?
d) Describe the procedure to perform the calibration of an ultrasonic sensor, and also state all assumptions in doing it.

Question 1
a) Explain the role of the following sensors, and classify them as active/passive and internal/external (and explain why):
* Laser range finder
* Contact switches
* GPS
* Optical encoders
* Potentiometer
b) On the sensor signal graph in Figure 1, what would the output signal look like for the following scenarios:
* sensor with low precision and high accuracy
* sensor with high precision and high accuracy
* sensor with high precision and low accuracy
* sensor with low precision and low accuracy
Signal value
Time
Figure 1: Sensor signal (bold line is the true signal and dashed lines are the sampling instances)
c) How does the resolution, precision and accuracy of the robot's joint angle sensors affect the forward and inverse kinematics of robot manipulators?
d) Describe the procedure to perform the calibration of an ultrasonic sensor, and also state all assumptions in doing it.

Added by Julian S.

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