An Improved Mean Filtering Algorithm for Measuring Data of Robotic Arm Force Sensor

Force sensor plays a very important role in the development and application of intelligent robot. Aiming at the problems of long sampling period, a large amount of calculation and poor real-time performance in the data processing of six axis force sensor of robotic arm, an improved mean filtering algorithm for the measurement data of robotic arm force sensor is proposed. By calculating the average value of the original signal and the original signal translated by n AD sampling intervals, the interference signal whose period is even multiple of the sampling interval can be quickly filtered. The six axis force sensor with cross beam is selected as the research object to carry out the weight loading experiment in F
z
direction. The experimental results show that the proposed algorithm reduces the operation time by 2/3 compared with the conventional mean filtering algorithm, and can quickly filter out the interference signal in the sensor signal processing circuit and retain the effective component of DC signal, which is suitable for the data processing of six axis force sensor.