Robot external contact force estimation method based on artificial neural network

The invention belongs to the technical field of robot control, and particularly relates to a robot external contact force estimation method based on an artificial neural network, which comprises the following steps: carrying out modification processing on a robot dynamic model, and dividing the robot dynamic model into a linear model part and a nonlinear model part; carrying out approximate approximation on the nonlinear part by adopting a radial basis function neural network, and constructing a self-adaptive observer based on the radial basis function neural network to estimate the nonlinear part and unknown interference of the model; feeding back the estimated model nonlinear part and unknown interference to the system model, compensating the corresponding part, and obtaining a linearized robot dynamic model; and when an external applied force acts on the robot, constructing a subjective observer to estimate the external applied force according to the linearized robot dynamic model. According to the method,