基于小波变换的机器人腕力传感器滤波算法

在对机器人腕力传感器信号特点分析基础上,提出了应用小波变换对腕力传感器信号进行滤波的方法,讨论了小波滤波算法,研究了机器人腕力传感器信号滤波方案,并针对抛光机器人作业实验数据进行滤波。仿真实验表明方法有效。

Based on analyzing the characteristics of the robot wrist force sensor,a filter strategy for force sensor signals(using) wavelet transform is proposed.The algorithm of wavelet filter is discussed,the scheme of robot wrist force sensor signal filter is researched,and the force signals from the polishing robot force control system are processed.Simulation shows this method is effective.

中国科学院知识创新工程重大攻关(KGCX-SW-15)资助项目