Non-sensing tactile force guarantee performance estimation method based on robust optimization

The invention discloses a non-sensing touch force protection performance estimation method based on robust optimization, and belongs to the technical field of robot automatic control. The method comprises the following steps: constructing a Lagrange dynamical model of the m-connecting-rod rigid series robot; introducing joint friction torque feedback compensation to the joint space Lagrange dynamical model, and designing an anti-interference contact force estimator based on a nominal model; designing an anti-interference controller with nonlinear compensation based on a touch force estimation result of the anti-interference contact force estimator, and obtaining a closed-loop system kinetic equation based on the anti-interference controller; an augmented system is obtained based on the anti-interference contact force estimator and the anti-interference controller, a joint solver based on robust constraint performance optimization is designed, the augmented system is solved, and a solving result is obtained; d