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Proximity Sensor Modify 2

The document describes an experiment to design and study the properties of a proximity sensor using Coppeliasim software, including placing different types of proximity sensors like ray, pyramid, cylinder, disk, and cone sensors on cuboids in the simulation and observing their detection volumes and parameters using the proximity sensor dialog box. Pictures are provided to demonstrate how to set up the simulation by arranging the components and proximity sensors on the cuboids before running the simulation to study the proximity sensor.

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PROJECTS SK
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
79 views

Proximity Sensor Modify 2

The document describes an experiment to design and study the properties of a proximity sensor using Coppeliasim software, including placing different types of proximity sensors like ray, pyramid, cylinder, disk, and cone sensors on cuboids in the simulation and observing their detection volumes and parameters using the proximity sensor dialog box. Pictures are provided to demonstrate how to set up the simulation by arranging the components and proximity sensors on the cuboids before running the simulation to study the proximity sensor.

Uploaded by

PROJECTS SK
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EXPERIMENT

-:PROXIMITY SENSOR:-
AIM:-To design a proximity sensor using Coppeliasim software and study its
properties.

Apparatus:-1)Coppeliasim Software
2) Personal Computer

Procedure:-

1) Install the Coppeliasim Software from internet.


2) Open the Coppeliasim software and click on the new screen.
3) Click on the ADD option.
4) Now Click on the cuboid Shape .
5) Take required number of cuboids on the screen.
6) Select the cuboid in the required dimension, place it on the
screen.
7) Now click on the ADD option to select the Sensors .
8) Click on the proximity Sensor .
9) Now select each type of proximity sensor and place them on
the cuboids present on the screen.
THEORY:-

The 6 Types of proximity sensor are:


1) Ray-type: The ray-type proximity sensor is ideally suited for very simple
Modeling of a proximity sensor, or for Modeling of a laser range finder. They
are the fastest proximity sensors.
2) Randomized ray-type: The randomized ray-type proximity sensor
operates as a ray-type sensor that randomly sweeps a cone volume. It has a
similar appearance as the cone-type proximity sensor.

3) Pyramid-type: The pyramid-type proximity sensor is ideally suited for


simple modeling of a proximity sensor with a detection volume that is
rectangular. They are very fast.

4)Cylinder-type: The cylinder-type proximity sensor is ideally suited for


simple modeling of a proximity sensor with a detection volume that is revolute.
They are very fast.

5)Disk-type: The disk-type proximity sensor allows precisely modeling of a


proximity sensor with a revolute-scanning detection volume. Depending on the
selected precision and operation mode, they can be a little bit more calculation
intensive.

6) Cone-type: The cone-type proximity sensor allows for the best and most
precise modeling of most proximity sensors. Depending on the selected
precision and operation mode, they can be a little bit more calculation intensive.

[Ray-type, pyramid-type, cylinder-type, disk-type and cone- or


randomized ray-type proximity sensors]

Main properties of Proximity sensor


in the scene object properties dialog, click the Proximity
sensor button to display the proximity sensor dialog (the Proximity
sensor button only appears if the last selection is a proximity
sensor). The dialog displays the settings and parameters of the last
selected proximity sensor. If more than one proximity sensor is
selected, then some parameters can be copied from the last selected
proximity sensor to the other selected proximity sensors .
[Proximity sensor dialog]

Explicit handling: indicates whether the sensor should be explicitely


handled. If checked, the sensor will not be handled when
sim.handleProximitySensor(sim.handle_all_except_explicit) is called, but only
if sim.handleProximitySensor(sim.handle_all) or
sim.handleProximitySensor(proximitySensorHandle) is called. This is useful if
the user wishes to handle the sensor in a child script rather than in the main
script (if not checked the sensor will be handled twice, once when
sim.handleProximitySensor(sim.handle_all_except_explicit) is called in the
main script, and once when
sim.handleProximitySensor(proximitySensorHandle) is called in the child
script). Refer also to the section on explicit and non-explicit calls.

 Show volume parameters: Toggles the proximity sensor volume dialog.


That dialog allows to customize a proximity sensor's detection volume.
 Show detection parameters: Opens the proximity sensor detection
parameter dialog. That dialog allows to customize various detection parameters.
 Show volume: Displays or hides the detection volume.
 Sensing point size: The size of the sensing point. This has no effect on
calculations (the sensing point, even if displayed big, is always considered as a
point).
 Adjust volume color: Allows adjusting the color of the sensor's volume.

 Adjust detection ray color: Allows adjusting the color of the


sensor's detection ray.
Here are the pictures to understand and start the
experiment by using Coppeliasim software:-

Picture 1:-

(This picture shown how to place the cuboid on the screen)

Picture 2:-
(This picture shown that the setting dimentions of the cuboid)

Picture 3:-

(This picture shown the preferred axes.)

Picture 4:-
(This picture shown that the Arrangement of types in proximity
sensor on the cuboid.)

Picture 5:-

( This shown Arrangement of ray type proximity sensor on the


cuboid.)
Picture 6:-

( This shown Arrangement of randomized type proximity sensor on


the cuboid)

Picture 7:-

( This picture shown Finally arranged all types of proximity sensors on the
cuboids)
Finally arrange the all components on there places and start the simulation.

Precautions:
1) Place the components in order on the base of the screen.
2) Check the scene objects multiple times before run the simulation.

Result:
The simulation is done on the proximity sensor by using coppeliasim
software.

Reference:
https://youtu.be/heNYjDOVcKY

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