External force estimation during motor control

A control method comprising:

• generating a first driving force command to drive a motor during a first control, wherein the motor is configured to power a driven object;
• estimating a first force acting on the motor during the first control based, at least in part on the first driving force command;
• generating a second driving force command to drive the motor during a second control;
• estimating a second force acting on the motor during the second control based, at least in part on the second driving force command;
• and
• estimating an external force acting on the driven object based, at least in part, on a difference between the first force and the second force.

A non-transitory memory device having instructions stored thereon that, in response to execution by a processing device, cause the processing device to perform operations comprising:

• generating a first driving force command to drive a motor during a first control, wherein the motor is configured to power a driven object;
• estimating a first force acting on the motor during the first control based, at least in part on the first driving force command;
• generating a second driving force command to drive the motor during a second control;
• estimating a second force acting on the motor during the second control based, at least in part on the second driving force command;
• and
• estimating an external force acting on the driven object based, at least in part, on a difference between the first force and the second force.