Analysis and classification of distributed sensor systems of collaborative robotics

The main goal of this analysis is to identify the most promising sensor nodes for the development of types of sensors used in sensor systems of collaborative robots, structures, and arrangement of nodes on the bodies of robots. To achieve this goal, the existing design solutions for sensor assemblies and systems were considered. The paper analyzes and classifies the nodes of distributed sensor systems according to the composition, the method of communication of the nodes used and their location on the robot bodies. Homogeneous or heterogeneous systems containing one of two types of nodes: combined and non-combined, have been identified. It was found that combined nodes are the most promising for development since include several types of sensors and can measure more environmental parameters through a single node. The most used types of sensors, methods of their manufacture, design and properties have been determined. Combined nodes contain the following types of sensors: pressure, proximity, temperature, humidity, gas, illumination, heat flow, corrosion, accelerometer-gyroscope, infrared and laser rangefinders, radar sensors. Among the listed, the most used are pressure, temperature, humidity sensors, inertial measurement units, light sensors, and microphones. The structures of sensor nodes are considered and the nodes most promising for development are identified, as well as the types of sensors used, methods of manufacturing and arrangement of nodes on the bodies of collaborative robots. The disadvantages of the considered systems are highlighted, and a method is proposed to reduce their influence on the power consumption of the system, the computational load, and delays in data transmission.