My main problem is measuring joint torque/load economically. There are ways to detect the electric current drawn which is proportional to the torque. Since my motor is a BLDC motor, there will be a driver which drives the 3 phases and hence the current drawn will also include losses, which would be variable. Is there a proper way to estimate the load by sensing current?
Is there any way to reliably get the torque/load on a motor joint, what are the common ways to do so without spending a ton of money on torque sensors?
Do to link me to any papers/research on this subject, if you'd want to.
I need to judge the load on the joints of a 6 dof robotic arm programmatically and detect unexpected impacts.