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Aimed at dynamic behavior compensation and its realization for robot wrist force sensor, a new design method for digital filter-pole-zero matched method based on bilinear transformation is developed in this paper. The design idea and the steps of this method are given. A design example and discussion are presented to show the features of the method. A dynamic compensation filter used in wrist force sensor is designed using the method developed in the paper, which improves dynamic performance of sensor efficiently.