Combined denoising method of acceleration signal during mobile robot collision

Abstract

Collision safety of mobile robot is one of the important indexes of robot safety evaluation. The acceleration signal of the robot can completely feed-back the state of the collision process, but it is also vulnerable to noise interference such as vibration and impact, which is difficult to be used for direct analysis. In order to solve the problem of mixing acceleration signal with impact noise and periodic vibration noise during robot collision, a combined filtering noise reduction method based on empirical mode decomposition (EMD), improved wavelet threshold method and dynamic sliding window is proposed. And a wavelet adaptive threshold function is constructed. The wavelet coefficients are automatically adjusted using the information of decomposition degree and noise level, and a dynamic adjustment strategy of sliding window length is designed. The acceleration information of robot can be effectively extracted in the process of strong noise collision. The experimental results show that this method has better noise reduction effect than other methods.