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Simplified Sensorless Torque Estimation Method for Harmonic Drive Based Electro-Mechanical Actuator

Ismail, Mohamed AA and Windelberg, Jens and Guangjun, Liu (2021) Simplified Sensorless Torque Estimation Method for Harmonic Drive Based Electro-Mechanical Actuator. IEEE Robotics and Automation Letters, 6 (2), pp. 835-840. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2021.3052392. ISSN 2377-3766.

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Official URL: https://ieeexplore.ieee.org/document/9326333


Torque measurements can significantly enhance control and monitoring loops for many mechatronic and aerospace applications. A typical challenge is to justify incorporating a torque sensor in terms of cost, system complexity, and reliability. Recently, sensorless torque estimation methods have been developed for robotic joints that include harmonic drive transmissions (HDTs). The principle is based on their relatively low torsional stiffness, which allows for estimating the transmitted torque by measuring the torsional angles (via existing joint encoders) and a compliance model. However, these methods are based on nonlinear models that are difficult to identify and tune. In this study, a simplified torque estimation method is introduced based on the structural damping friction of the HDTs. The structural damping can be correlated to the HDT torque using a simplified linear dynamic model and torsional rate measurements. Experimental results have validated the proposed method, using a robotic joint setup with an external torque sensor that has been previously utilized for testing several torque estimation methods

Item URL in elib:https://elib.dlr.de/144049/
Document Type:Article
Title:Simplified Sensorless Torque Estimation Method for Harmonic Drive Based Electro-Mechanical Actuator
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Ismail, Mohamed AAUNSPECIFIEDhttps://orcid.org/0000-0002-2077-0681UNSPECIFIED
Windelberg, JensUNSPECIFIEDhttps://orcid.org/0000-0002-9249-2967UNSPECIFIED
Date:2 April 2021
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 835-840
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:joint torque estimation, harmonic drive, electro-mechanical actuator
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Aircraft Systems
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems
Institute of Flight Systems > Safety Critical Systems&Systems Engineering
Deposited By: Ismail, Dr. Mohamed AA
Deposited On:07 Dec 2021 16:39
Last Modified:29 Mar 2023 00:00

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