Research Of Tactile Sensing Array And Calibration Experimental Based On Conductive Rubber

The Tactile-sensor Technology plays an important role in the field of intelligent robot, and it is a kind of method to feel the outside world of information to robot like hearing and seeing. Advanced tactile technology is one of the major signs to the intelligent robot. the core difficulty that is needed to solve for tactile intelligent robot is to quantify tactile sensor calibration and how to complete the mathematical modeling of sensor information.This paper studies mainly core technology: " Calibration technique to Sensing Properties of conductive rubber sensor" in the subject based on clothing of conductive rubber's intelligent robot. In the project, it is necessary to build clothing of intelligent robot, Sensor array of conductive rubber, information analysis and information processing systems. In order to break through the technical difficulties of conductive rubber's piezoresistive properties , the experimental data will be analysed and processed by making use of error theory and MatLab tool to do an in-depth study with the system and experimental techniques, and then the relationship between force and power will be calibrated. This paper provides solving means and experimental results to core problem in the project based on clothing of conductive rubber's intelligent robot. At the same time, it provides a good technical reference for quantitative calibration of sensor'power - telectrical characteristics.Tactile sensor array calibration system consists of PVC membrane made of 128×64 conductive rubber, the mechanical device, SONY / Tektronix's AWG2005 signal generator, signal "interrupting" and the scanning circuit, NI (National Instruments)'s PCI-6259 Data Acquisition Card, 2 SCB-68 junction box, signal acquisition circuit, signal processing circuit, shielded cable, ACER's PC hardware system. Professional software system is made up of NI's LabVIEW software, MS (Microsoft)'s VisualStudio 2006 , OpenGL technology, and Mathworks's MatLab R2006. In the systems engineering, the mechanical devices supplies feeling, and the signal generator generates signal, and then they will be composed to transform in the clothing of PVC membrane. Next through a number of circuit modules and LabVIEW's software controlling data acquisition card , the signals will be delivered into PC to display three-dimensional graphics by using OpenGL technology, and then they will be processed in MatLab. The process is called by quantitative calibration. in the project, the experimental method study throughout the whole hardware system, the study of calibration technology is a core for the whole system , especially plays a decisive role for data analysis and processing.Through long-term's a large number of experiments, theoretical analysis and summary of this paper, The tactile robot's clothing system provided by this paper based on conductive rubber is available. The experimental method and the calibration technology for tactile sensor array has provided a new technology solution...