Title :
A digital filter for application in robot wrist force sensor
Author :
Liu, Zhengshi ; Wang, Yong ; Lu, Yimin ; Gan, Fangjian ; Ge, Yunjian
Author_Institution :
Coll. of Mech. & Automobile Eng., Hefei Univ. of Technol., China
Abstract :
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.
Keywords :
digital filters; force sensors; industrial robots; poles and zeros; bilinear transformation; digital filter; digital filter-pole-zero matched method; dynamic behavior compensation; dynamic compensation filter; robot wrist force sensor; Design methodology; Digital filters; Force sensors; Intelligent robots; Intelligent sensors; Poles and zeros; Robot sensing systems; Transfer functions; Vehicle dynamics; Wrist;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1343646
