Method for removing and realizing strong vibration interference in force signal facing grinding robot

The invention discloses a method for removing and realizing strong vibration interference in a force signal facing a grinding robot, two filtering algorithms are connected in series to form a double-Kalman filter, and the first filter is used for filtering Gaussian white noise and high-frequency vibration spectrum peak group noise; a single parameter is introduced, a gradual time-varying noise variance is designed in an exponential weighting mode, colored noise characteristics are described, improved Kalman filtering is designed to form a second filter, and colored noise filtering and elimination are achieved. According to the method, effective filtering and elimination of complex noise formed by superposition of Gaussian white noise, vibration noise and colored noise contained in force measurement information in robot force control grinding are achieved. 本发明公开一种面向打磨机器人的力信号中振动强干扰的去除与实现方法，将两个滤波算法串联构成双卡尔曼滤波器，第一个滤波器实现对高斯白噪声和高频振动谱峰群噪声的滤除；引入单个参数，以指数加权方式设计了一个逐渐时变噪声方差，描述有色噪声特性，设计了一种改进卡尔曼滤波构成第二个滤波器，实现对有色噪声滤波与剔除。本发明实现