Optimization Design Method of IIR Digital Filters for Robot Force Position Sensors

Abstract

Aimed at the design of IIR digital filters of robot force/position sensors, a design method is put forward. Its optimization principle is the minimum MSE between ideal and actual output signal at time-domain. And the mathematics model aiming at second-order Butterworth lowpass filter was set up. This method needn't understand the complicated design theory and method for digital filter and the characteristic of filter, such as passband frequency, cutoff frequency, passband attenuation, ripple, etc. This method only requires the understanding of the structure characteristic of filter and the maximum frequency of sensor signal. Thus the parameters of the filter can be optimized in a suitable intelligent optimization method. An optimization program of the PSO algorithm was developed in the Matlab circumstance. The result of simulation experiment proves the validity of this method, and to be strongly practicable.