Robot zero phase-shift real-time filtering method

The invention relates to the field of filters in an industrial robot digital signal processing system, in particular to a robot zero phase-shift real-time filtering method, which comprises the following specific steps: S1, acquiring data and analyzing frequency; S2, designing an FIR filter coefficient and an order; S3, calculating filtering data; S4, determining a specific gravity relation betweenthe actual data and the continuation data. According to the method, the linear phase property of the FIR filter is fully utilized, frequency spectrum aliasing is not generated during filtering, noiseinterference is eliminated, actual data are reserved as much as possible, and the possibility that errors may occur in manual recording is reduced. Due to the fact that phase lag does not exist in the filtered data, in the actual man-machine cooperation process, if collision occurs, a signal can change at the current moment, the robot can immediately start safety measures, no further harm is caused to people, and the safe