Performance Improvement of Material Recognition Sensor Using Cubic Spline Interpolation

摘要

This paper describes a noble robot sensor designed to recognize an unknown material by measuring its thermal conductivity on various ambient temperature. The excellent agreement has been obtained between the measured sensor temperature and the calculated sensor temperature by cubic spline interpolation. The active sensor to measure the thermal conductivity of a gripped object was designed and the software program using C language to discriminate objects made of different materials was developed. The temperature response characteristics of different materials on the same ambient temperature was investigated. The temperatures on three comparing points varied linearly and had parallel relation with one another in accordance with various ambient temperature.