4.2 INTERNAL SENSORS
They are used to monitor the internal
state of a robot, i.e. its position,
speed, acceleration, etc., at a given
time.
Based on this information, the
controller decides about the control
command.
VDT
4.2.1 Position sensors
They measure the position of each
joint, that is, the articulation angle of
a robot. From these angles you can
find the final executor settings, and
locate its position and orientation by
means of direct kinematics.
Encoder
Synchronization
Resólvers
Potentiometer