基于STM32的力传感器信号采集与处理系统设计

用于表征机器人人机交互(HRI)过程中力学特性变化的三轴力传感器的数据需要实时采集以反馈给控制系统.考虑到交互过程中传感器的信号会受到随机噪声干扰,影响控制系统的准确性和精度.设计了一种基于运算放大器和STM32微处理器的传感器信号采集和处理系统.传感器微弱信号经放大调理后送至STM32模数转换接口,对传感器输出信号进行数字滤波,并对整个系统进行算法验证.信号分析表明:该系统有效抑制了随机干扰信号,为控制系统提供了稳定的采样精度.

Design of force sensor signal acquisition and processing system based on STM32

The data of the three-axis force sensor which is used to characterize the change of mechanical properties in the process of human-robot interaction(HRI) needs to be collected in real time in order to feed back to the control system.Taking into account that the sensor signals will be interfered by random noise during interaction,it will affect the accuracy and precision of the control system.Design a kind of sensor data acquisitionand processing system based on operational amplifiers and STM32 microprocessor.Weak sensor signal will be sent to the STM32 analog to digital conversion(ADC) interface after amplified and conditioned,aiming at characteristics of output signal of sensor,digital filtering of signal is carried out,and verify the algorithm of entire system.Signal analysis shows that the system effectively restrain random disturbance signal and provides stable sampling precision for control system.