Terminal force soft-sensing method of hydraulic manipulator

A terminal force soft-sensing method of a hydraulic manipulator, wherein the method is executed by a processor, comprising:

• step 1, establishing a dynamic model of the hydraulic manipulator, performing linearization processing on the dynamic model, and establishing a minimum inertial parameter set of the hydraulic manipulator and a linear model of a regression matrix corresponding to the minimum inertial parameter set;
• step 2, generating an excitation trajectory by solving a finite Fourier series coefficient through taking a condition count of the regression matrix in the step 1 minimal as a goal;
• step 3, determining a hydraulic driving torque τ by collected values of pressure sensors of two chambers of hydraulic cylinders when controlling the hydraulic manipulator to operate the excitation trajectory under a no-load condition;
• and
• determining a total regression matrix by bringing joint angles, joint angular velocities, and joint angular accelerations at each moment into the regression matrix;
• step 4, determining dynamic parameters of the hydraulic manipulator according to the hydraulic driving torque τ obtained in the step 3 and the regression matrix;
• and
• step 5, determining the terminal force of the hydraulic manipulator based on the dynamic parameters of the hydraulic manipulator determined in the step 4 and the linear model in the step 1.