【正文】 ，測量反力與力矩。力和扭矩傳感器有壓電傳感器和裝在柔性部件上的應變儀等。 非接觸傳感器包括接近傳感器、視覺傳感器、聲敏元件及范圍探測器等。接近傳感器和標示傳感器附近的物體。 例如，可以用渦流傳感器精確地保持與鋼板之間的固定的距離。最簡單的機器人接近傳感器包括一個發(fā)光二極管發(fā)射機和一個光敏二極管接收器，接收反射面移近時的反射光線，這種傳感器的主要缺點是移近物對光線的反射率會影響接收信號。其他得接近傳感器使用的是與電容和電感相關的原理。 視覺傳感系統(tǒng)十分復雜，基于電視攝像或激光掃描的工作原理。攝像信號經(jīng)過硬件預處理，以 30 幀至 60 幀每秒的速度輸入計算機。計算機分析數(shù)據(jù)并提取所需的信息，例如，物體是否存在以及物體的特征、位置、操作方向，或者檢測元件的組裝及產(chǎn)品是否完成。 聲敏元件用來 感應并解釋聲波，從基本的聲波探測到人們連續(xù)講話的逐字識別，各種聲敏元件的復雜程序不等，除了人機語音交流外，機器人還可以使用聲敏元件控制弧焊，聽到碰撞或倒塌的聲音時阻止機器人的運動，預測將要發(fā)生的機械破損及檢測物體內部缺陷。 還有一種非接觸系統(tǒng)使用投影儀和成像設備獲取物體的表面形狀信息或距離信息。 傳感器有靜態(tài)探測與閉環(huán)探測兩種使用方法。當機器人系統(tǒng)的探測和操作動作交替進行時，通常就要使用傳感器，也就是說探測時機器人不操作，操作時與傳感器無關，這種方法被稱為靜態(tài)探測，使用這種方法，視覺傳感器先尋找被捕捉物體的 位置與方向，然后機器人徑直朝那個地點移動。 相反，閉式探測的機器人在操作運動中，始終受傳感器的控制，多數(shù)視覺傳感器都采用閉環(huán)模式，它們隨時監(jiān)測機器人的實際位置與理想位置間的偏差，并驅動機器人修正這一偏差。在閉環(huán)探測中，即使物體在運動，例如在傳送帶上，機器人也能抓住它并把它送到預定位置。 Robots and robot sensor Introduction Industrial robot and its operation is the subject of this article. Industrial robots are used in manufacturing environment as a tool to increase productivity. It can be used to undertake routine, tedious assembly line work, or the implementation of those workers may be hazardous work. For example, in the first generation of industrial robots, there were a nuclear power plant is for the replacement of fuel rods. Workers engaged in this work may be exposed to harmful amounts of radiation in the next. Industrial robots can operate in the assembly line to install smallscale ponents, such as electronic ponents mounted on circuit board. To this end, workers from the tedious task of this routine operation freed. The robot can be programmed to remove the bomb detonators for the disabled in our munity services and play a role in many applications. Robot arm can be seen as the end of the implementation of tools, sensors, and / or jaws to move to a predetermined position of a machine. When the robot reaches the position, it will perform a task. The task may be welded, sealed, mechanical loading, mechanical unloading, or many assembly work. In addition to programming, and open and close the system, the general, not require the participation of people will be able to plete such work. Robotics Glossary Robot is a reprogrammable multifunctional manipulator that can be programmable motion moving parts, materials, tools or special devices to perform a different task. By the following paragraphs of this definition may lead to other definitions were described, which provides a plete system for the robot itself. Location is preprogrammed robot must follow in order to plete the work and the way through. A point in these locations, the robot will stop and perform some operations, such as assembling parts, painting or welding. These preprogrammed robot position is stored in the memory device to continue operation for later use. In addition, when job requirements change, the only other programming data and these can be modified preprogrammed locations. Therefore, precisely because of the characteristics of this program, an industrial robot and one can store data, and can recall and edit the puter is very similar. Robot is a robot arm, which allows the robot pitch, stretching and rotating. This action is provided by the robot axis, mechanical axis, also known as robot hand of freedom. A robot can have 316 axis. In my later, the term degrees of freedom and a total number of robot axes associated. Tools and not within the robot gripper itself, which is mounted on the robot arm end attachment. With the end of the robot arm connected to these attachments, the robot can lift parts, spot welding, painting, welding, drilling, deburring, the request can also point to various types of tasks. Robot system can also control the operation of the robot39。s work unit. Robotic work cell is a general environment in the environment, the robot must perform the tasks entrusted to it. The unit can acmodate the controller, the robot manipulator, working platforms, safety devices, or conveyor. Robot to carry out all the equipment nee