Torque estimation system, torque estimation method, and program

A torque estimation method for estimating friction torque of a rotation mechanism comprising:

• detecting an angular velocity of the rotation mechanism;
• and
• setting an upper limit value and a lower limit value according to the detected angular velocity of the rotation mechanism, the upper limit value and the lower limit value limiting an upper limit and a lower limit, respectively, of the friction torque with respect to the estimated friction torque.

A non-transitory computer readable medium storing a program causing a computer to execute a torque estimation method for estimating friction torque of a rotation mechanism, the torque estimation method comprising:

• a process of setting an upper limit value and a lower limit value according to an angular velocity of the rotation mechanism, the upper limit value and the lower limit value limiting an upper limit and a lower limit, respectively, of the friction torque with respect to the estimated friction torque.

A torque estimation system for estimating friction torque of a rotation mechanism comprising:

• an angular velocity sensor configured to detect an angular velocity of the rotation mechanism;
• and
• a limit value setting unit configured to set an upper limit value and a lower limit value according to the angular velocity of the rotation mechanism detected by the angular velocity sensor, the upper limit value and the lower limit value limiting an upper limit and a lower limit, respectively, of the friction torque of the estimated friction torque.