Joint control method for serial robot and serial robot using the same

A serial robot, comprising:

• a plurality of joints connected in series each comprising a motor;
• a memory;
• a processor;
• and
• one or more computer programs stored in the memory and executable on the processor, wherein the one or more computer programs comprise:
• instructions for performing a first force analysis on an end joint in the plurality of joints based on a force of a previous joint adjoining the end joint acting on the end joint and an external force acting on the end joint, and calculating the force of the previous joint acting on the end joint based on a result of the first force analysis;
• instructions for performing a second force analysis on each of the other joints in the plurality of joints based on a force of a previous joint adjoining the joint acting on the joint and a force of the joint acting on a following joint, and calculating the force of the previous joint acting on the joint based on a result of the second force analysis;
• instructions for obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint based on the force of the previous joint acting on the joint, the angular velocity of the joint, and the angular acceleration of the joint;
• and
• instructions for projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a toque to be applied to the motor at a current time such that the motor controls the joint to move according to the torque to be applied.