Analysis of smart electromagnetic sensor for robot effector positioning

Active robot-environment interaction leans on information about state of robot in workspace and environment objects features. The information can be obtained from external sensors. Many advanced sensors are concentrated in grippers or effectors and connected to computer measurement system. In the case of electromagnetic sensors, the computer-sensor interconnection is always required. However, the utmost importance is the designing process. It bases on an accurate electromagnetic simulation to obtain easy to convert output quantities. The paper presents equations to calculate electromagnetic devices and the 3D simulation of electromagnetic sensor for robot grasp positioning. The simulation includes influences of the position on field distribution, eddy current and inductivity changes as output quantity depends on position. The solution of computer calculations is compared with measurement.