Torque control tool

A power tool configured to monitor and control a torque output of the power tool, the power tool comprising:

• an output shaft including an anvil;
• a hammer mechanism configured to strike the anvil and thereby cause a rotation of the output shaft;
• a motor coupled to the hammer mechanism, the motor configured to drive the hammer mechanism and therefore drive the output shaft;
• a first sensor configured to measure an angle of rotation of the output shaft in response to the hammer mechanism rotating the output shaft;
• a second sensor configured to measure a second energy value of the power tool;
• a controller communicatively coupled to the first sensor, the second sensor, and the motor, the controller configured to:
• determine the angle of rotation based on the measurement of the first sensor,
• determine a first energy value of the power tool based on the determined angle of rotation, the first energy value being a change of energy of the hammer mechanism during the angle of rotation,
• determine the second energy value based on the second sensor, the second energy value being an energy loss from the first energy value to a component of the power tool different from the output shaft during the angle of rotation,
• determine an applied torque to the output shaft based on an energy difference between the first energy value and the second energy value, the energy difference being an estimate of energy transferred to the output shaft with the energy loss removed, and
• control the motor of the power tool based on the determined applied torque.