I'm working on a robot arm project for hobbyist / learning purposes. One of my DIY motivations is to be able to easily add additional sensors. I've been thinking about using ACS712 linear current sensors to measure the drain on each servo. (The hobbyist servos will be Gobilda 2000 series).
Googling has found reports of mixed experiences using current to make inferences about servos - some positive, some negative. Those claiming success seem to be using integration methods (either hardware or software) to get an indicative current over time value. This seems to filter out unpredictable instantaneous measurements.
My question is. Is measuring servo current drain a reasonable approach to make inferences about servo torque / force? If so, are there practical tips regarding implementation or limitations?