As it is commonly known, the torque supplied by a motor is directly proportional to the current it draws. So when a motor is under heavy load, the torque required will be more hence it would draw more current
For a BLDC motor, the current is supplied via three phases which are switch by a motor driver. But this motor driver is supplied with a single DC supply.
Can I reliably measure the torque provided by my motor by measuring the current drawn by the driver?
My motor is currently mounted as part of a robotic arm and there is PID control loop for position control.
I only need to get an idea of the current load and detect load anomalies (like an impact i.e. higher load or loss of payload i.e. lower load etc).
Given that I can calculate the nominal load at any position and hence calculate the nominal current drawn, is it a good idea to use current sensing for this kind of load sensing?
Is there any research on this which analyses this method of torque control/load sensing which I can refer to?