Online estimation method for load mass at tail end of movable base mechanical arm

The invention discloses an online estimation method for the tail end load mass of a movable base mechanical arm, and belongs to the technical field of robot control. The method comprises the steps of processing an estimated value of load mass to obtain a six-dimensional virtual generalized force, collecting and processing a trunk six-dimensional pose feedback signal to obtain an actual trunk stress, and comparing a thrust with the actual trunk stress, and processing the estimated value of the current load mass by adopting a load mass self-adaptive iteration speed sliding mode control model to obtain a new estimated value of the load mass until the actual stress of the trunk is equal to the thrust. According to the on-line estimation method for the mass of the load at the tail end of the movable base mechanical arm, the load at the tail end of the arm can be estimated in real time on the basis of the predicted values of the movable base thrust and the actual trunk thrust constructed and applied by the current