Optimization design method of IIR digital filters for robot force/position sensors

At present, both traditional ways of frequency conversion and the method of optimization design require the master of basin professional knowledge related to digital signal processing in digital filters design. In order to go beyond the limitation of the professional signal processing knowledge in digital filters design, a method of optimized design of digital filters' parameters is put forward. This method only requires the understanding of the basic structure of IIR digital filter and the signals' frequency range of the sensor. Thus the parameters of the filter can be optimized in an intelligent optimization method. An optimization procedure of the particle swarm optimization (PSO) algorithm in the Matlab circumstance has been developed and several simulation experiments have been made. The result proves the validity of the method.