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Cylindrical Coordinate Geometry A robot arm can be guided by means of a two-dimensional navigator s polar coordinate system with an elevation dimension added (Fig. 34-6). This is known as cylindrical coordinate geometry. In this system, a reference plane is used. An origin point is chosen in this plane. A reference axis is defined, running away from the origin in the reference plane. In the reference plane, the position of any point can be specified in terms of reach x, elevation y, and rotation z. The rotation is defined as the angle that the reach arm subtends relative to the reference axis. In this example, it is in the clockwise sense. Note that this is just like the situation for two-dimensional Cartesian coordinate geometry shown in Fig. 34-5, except that the sliding movement is also capable of rotation. The rotation angle z can range from 0 to 360 clockwise from the reference axis. In some systems, the range is specified as 0 to +180 (up to a half circle clockwise from the reference axis), and 0 to 180 (up to a half circle counterclockwise from the reference axis). Revolute Geometry A robot arm capable of moving in three dimensions using revolute geometry is shown in Fig. 34-7. The whole arm can rotate through a full circle (360 ) at the base point, or shoulder. There is also an elevation joint at the base that can move the arm through 90 , from horizontal to vertical. A joint in the middle of the robot arm, at the elbow, moves through 180 , from a straight position to dou-
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Machine hearing involves detection of acoustic waves, along with amplification and analysis of the resulting audio signals. Machine vision involves the interception of visible, infrared (IR), or ultraviolet (UV) radiation, and translating this energy into electronic images. Machine hearing and vision can allow robots to locate, and in some cases classify or identify, objects in the environment.
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Binaural Hearing Even with your eyes closed, you can usually tell from which direction a sound is coming. This is because you have binaural hearing. Sound arrives at your left ear with a different intensity, and in a different phase, than it arrives at your right ear. Your brain processes this information, allowing you to locate the source of the sound, with certain limitations. If you are confused, you can turn your head until the direction becomes apparent. Robots can be equipped with binaural hearing. Two acoustic transducers are positioned, one on either side of the robot s head. A microprocessor compares the relative phase and intensity of signals from the two transducers. This lets the robot determine, within certain limitations, the direction from which sound is coming. If the robot is confused, it can turn until the confusion is eliminated and a meaningful bearing is obtained. If the robot can move around and take bearings from more than one position, a more accurate determination of the source location is possible if the source is not too far away. Visible-Light Vision A visible-light robotic vision system must have a device for receiving incoming images. This is usually a charge coupled device (CCD) video camera, similar to the type used in home video cameras. The camera receives an analog video signal. This is processed into digital form by an ADC. The digital signal is clarified by means of DSP. The resulting data goes to the robot controller. The moving image, received from the camera and processed by the circuitry, contains an enormous amount of information. It s easy to present a robot controller with a detailed and meaningful moving image. But getting the robot controller to know what s happening, and to determine whether or not these events are significant, is another problem altogether. Optical Sensitivity and Resolution Optical sensitivity is the ability of a machine vision system to see in dim light or to detect weak impulses at invisible wavelengths. In some environments, high optical sensitivity is necessary. In others, it is not needed and might not be wanted. A robot that works in bright sunlight doesn t need to be able to see well in a dark cave. A robot designed for working in mines, pipes, or caverns must be able to see in dim light, using a system that might be blinded by ordinary daylight.
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