With the continuous development of the robot industry, both industrial robots and collaborative robots are developing towards light type and intelligence. The core issue is that how to improve the dynamic control performance of robots and reduce costs. The accurate torque feedback control can be achieved by introducing a joint torque sensor. The disadvantages brought by it are higher cost and the limited performance of the torque sensor. Therefore, on the basis of the traditional current estimated torque, combined with the accurate joint torque data fed back by the torque sensor, a method to estimate the harmonic transmission torque in the joint based on the disturbance observer is proposed, and a joint torque model is constructed. At the same time, the compensation factor is introduced to improve the accuracy of torque estimation. In the method proposed in this paper, the theoretical position and actual position, speed difference and motor current of the dual encoder on the motor side and the link side are used to estimate the harmonic transmission torque through the disturbance observer, and the corresponding coefficient is identified. By calibrating the transmission error compensation term and friction force with the torque sensor, the joint torque estimation model is obtained, and the sensorless joint torque estimation can be realized. This method does not require additional torque error compensation caused by harmonic drive deformation in the controller. Therefore, the torque control method without torque sensor is adopted in batch, which is not affected by the configuration and dynamic parameters of the manipulator. In the experiment, the output data of the joint torque sensor is used for testing and comparison. Through the single joint and redundant robot manipulator integration testing, the effectiveness of the proposed joint torque estimation method is verified.
Multi-connection load compensation and load information calculation for an upper-limb exoskeleton based on a six-axis force/torque sensor