Multi-point Interaction Force Estimation for Robot Manipulators with Flexible Joints Using Joint Torque Sensors

In this paper, multi-point interaction forces of the robot manipulators with flexible-joints are separated and estimated by using the backward method and link-side generalized momentum observer method. Similar to the Newton-Euler method, the backward method is utilized to separate and compute the contact forces exerted on the links. To avoid the use of the acceleration signals, the generalized momentum observer is employed to estimate the external forces. For robot manipulators with flexible-joints, the joint torque data rather than the motor command torque data are used to obtain accurate estimation results. Experimental results show that the multi-point contact forces are accurately separated and estimated using the presented method.