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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.
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on (Volume:6 )
Date of Conference: 15-19 June 2004