Method for suppressing oscillations in control signals for force control, computer device and readable storage medium

Abstract

This application relates to a method for suppressing vibrations in a control signal for force control, a computer device, and a readable storage medium. The method includes acquiring a first output signal of a force sensing device that includes at least one of a force signal and a torque signal (S110), processing the first output signal with an analog differential circuit to acquire a second output signal corresponding to the differential component of at least one of the force signal and the torque signal (S120), and using the second output signal to suppress vibrations in a control signal for force control (S130). By using this method, the vibration suppression performance of a control signal for force control can be improved.

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