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The function of robot sensor divided into two principal categories: internal state sensor and external state sensor.
Internal state sensors deal with the detection of variables such as arm joint position.
External state sensors deal with detection of proximity and touch sensing. External state sensor can be classified as contact and non-contact sensor.
Contact sensors respond to physical contact such as touch, slip and torque.
Non-contact sensors response of a detector to variations in acoustic or electromagnetic radiation. The most prominent examples of non-contact sensors measure proximity and visual properties of an object.
Currently several sensors are applied to robots on factory floors, and this fact increases the flexibility, accuracy, and repeatability of robots.
Sensors are used in work cells for the following six basic reasons:
1) To detect a condition where an operator or some other human worker could be harmed by the robot or other manufacturing equipment.
2) To detect a condition where the robot or other machines could be harmed by some manufacturing equipment.
3) To monitor the production system operation and thus ensure consistent product quality.
4) To monitor the work cell operation to detect and analyze system malfunctions.
5) To analyze production parts and to determine the current level of product quality.
6) To monitor production parts for identification, location and orientation data that can be used by other production system in the work cell.