Virtual Torque Sensor for Low-Cost RC Servo Motors Based on Dynamic System Identification Utilizing Parametric Constraints.

We propose a novel virtual torque sensor for commercial low-cost radio-controlled (RC) servo motors. The virtual torque sensor has played an important role for conventional robots. It has been used for torque-required control applications such as human⁻robot interaction and under-actuated robots. However, most virtual torque sensors are based on the inversion of actuators or robot dynamics with the assumption that entire dynamics are known. This is not applicable to the RC servo motors that have unknown control structures. As RC servo motors enable researchers and hobbyists to create lightweight but high performance robots in an easy and cost-effective manner, the development of a virtual torque sensor for these motors is necessary. In this study, we propose a design method of a virtual torque sensor for RC servo motors. First, the virtual sensor is derived mathematically based on internal dynamic models with parametric constraints and compared to the conventional model. Second, a dedicated system identification method is developed for the proposed virtual sensor to implement the sensor in actual experiments. Finally, we compare experimental results with the measurements obtained by an actual sensor.