Mechanical arm system and mechanical arm control method

A mechanical arm system, comprising a link, a motor device coupled to the link, and a control device coupled to the motor device, wherein the control device comprises:

• a first control unit, configured to receive an end-position command to output a first torque signal;
• a mechanical arm control unit, comprising a rigid mechanical model and a flexible mechanical model, wherein the mechanical arm control unit receives the first torque signal to obtain a rigid mechanical torque through the rigid mechanical model, and the mechanical arm control unit creates a mechanical arm model to obtain a target torque based on the rigid mechanical torque and the flexible mechanical model, and the mechanical arm control unit outputs a target position signal based on the target torque;
• a driving unit, configured to generate a driving signal based on the target position signal to adjust a rotatory angle of the motor device;
• and
• a measurement processing unit, configured to measure the motor device to output kinematic parameters of the motor device, wherein the kinematic parameters comprise the rotatory angle, a rotatory speed and a rotatory acceleration;
• wherein the mechanical arm control unit receives the kinematic parameters of the motor device to adjust the rigid mechanical model to change the rigid mechanical torque.

A mechanical arm control method, performed by a mechanical arm system, wherein the mechanical arm system comprises at least two links, at least two control devices and at least two motor devices, wherein the at least two control devices respectively control the corresponding at least two motor devices to adjust positions of the corresponding at least two links, wherein each of the at least two control devices performs the mechanical arm control method, comprising:

• receiving an end-position command to output a first torque signal;
• receiving the first torque signal and operating a rigid mechanical model to obtain a rigid mechanical torque;
• creating a mechanical arm model to obtain a target torque based on the rigid mechanical torque and a flexible mechanical model;
• outputting a target position signal based on the target torque;
• generating a driving signal to adjust a rotatory angle of the corresponding motor device based on the target position signal;
• and
• measuring the rotatory angle, a rotatory speed and a rotatory acceleration of the corresponding motor device;
• wherein one of the at least two control devices receives rotatory angle, rotatory speed and rotatory acceleration of the corresponding motor devices of the other at least two control devices for adjusting the rigid mechanical model of the one of the at least two control devices to change the rigid mechanical torque.