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A digital filter for application in robot wrist force sensor

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5 Author(s)
Zhengshi Liu ; Coll. of Mech. & Automobile Eng., Hefei Univ. of Technol., China ; Yong Wang ; Yimin Lu ; Fangjian Gan
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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.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004