On an industrial robot, a component that is used to control the positions and velocities of the various joints are referred to as an _____ sensor.
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Step 1: The component provides position (and often velocity) feedback for the robot joints. Show more…
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Adi S.
At the instant shown, the industrial manipulator is rotating about the $z$ axis at $\omega_{1}=5 \operatorname{rad} / \mathrm{s},$ and $\dot{\omega}_{1}=2 \mathrm{rad} / \mathrm{s}^{2}$ and about joint $B$ at $\omega_{2}=2$ rad/s and $\dot{\omega}_{2}=3 \mathrm{rad} / \mathrm{s}^{2}$ Determine the velocity and acceleration of the grip $A$ at this instant, when $\phi=30^{\circ}, \theta=45^{\circ},$ and $r=1.6 \mathrm{m}$
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 vs. 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.
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