Interaction Torque Estimation for Robotic Manipulators under Low-Speed Condition

This paper studies the interaction torque estimation method of the rigid robotic manipulator under the low-speed condition. Specifically, a nonlinear friction model is established to analysis the influence of friction. Take the noise into consideration, a least square identification method is proposed. Furthermore, a finite-time extended state observer is established to estimate the interaction torque, which is capable of estimating time-varying forces. The stability of the system is demonstrated based on the Lyapunov theory. Experimental results are given to show the effectiveness of the proposed method.