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This paper presents a stochastic estimation method and a signal processing based method for estimating disturbance torques without using any force sensors. The first method will address a robustness against measurement noises by estimating noise covariance. The second method will show several practical merits. By containing system models inside of the estimator, the total disturbance torque injected into the plant is estimated. The experimental results conducted using a master-slave manipulator show the validity of two proposed methods.