A robot arm signal processing method, relating to the technical field of robots. The method comprises: inputting joint information of a specified joint of a robot arm into a feedforward processing channel for operation to obtain first data corresponding to the joint information (S1), wherein the specified joint is any one of all joints in the robot arm, the joint information comprises an electric motor pulse signal for controlling joint motion, and the first data comprises a motion radian calculated from the electric motor pulse signal; inputting the first data into a closed-loop feedback channel for error adjustment to obtain second data after an error in the first data is adjusted (S2); carrying out high-order derivable operation on the motion radian with error correction to obtain motion information corresponding to the specified joint (S3); and receiving the motion information corresponding to the specified joint (S4). A control scenario of a collaborative robot arm is combined so as to design an encoder signal processing algorithm, and an optimized processing algorithm can extract a position signal and a speed signal of each joint of the robot arm, and has the good characteristics of being fast at following dynamic performance and low noise.
ROBOT ARM SIGNAL PROCESSING METHOD AND APPARATUS, COMPUTER DEVICE AND STORAGE MEDIUM