Robot interaction force estimation method based on environment rigidity online identification

The invention relates to a robot interaction force estimation method based on environment rigidity online identification, and belongs to the field of industrial robot automatic control. Firstly, on the basis of environment rigidity characteristics and robot kinematics, the coupling relation between tail end interaction force and a robot momentum system is represented, and a generation model of environment interaction force is established; secondly, in combination with a robot Euler-Lagrange dynamics model, an interaction force estimation system deep coupling model containing unknown environment rigidity parameters is established; and finally, designing an iterative optimization method of environment rigidity online identification and interaction force estimation, and realizing adaptive separation estimation of the interaction force of the robot. According to the method, force sensor-free force estimation capable of performing structured modeling on the robot environment interaction force is realized, and the