Robotic arm system, control method thereof and computer program product thereof

A control method for a robotic arm system, comprising:

• determining whether a first force vector of a first force applied by a first robotic arm to an object is equal to a second force vector of a second force applied by a second robotic arm to the object;
• when a first magnitude of the first force vector and a second magnitude of the second force vector are not equal, obtaining a first difference between the first magnitude and the second magnitude;
• and
• according to the first difference, changing at least one of the first force applied by the first robotic arm to the object and the second force applied by the second robotic arm to the object so that the first magnitude and the second magnitude are equal;
• determining whether a first direction of the first force vector and a second direction of the second force vector are in opposite directions respectively, an angle difference between the first direction and the second direction is 180 degrees, and the first direction is not collinear with the second direction;
• obtaining the first difference between the first magnitude and the second magnitude;
• and
• when the first direction and the second direction are in opposite directions respectively, controlling the first robotic arm or the second robotic arm so that a second difference between a larger one of the first magnitude and the second magnitude and the first difference is equal to a smaller one of the first magnitude and the second magnitude.

A non-transitory computer program product installed in a robotic arm system to execute a control method, wherein the control method comprises:

• determining whether a first force vector of a first force applied by a first robotic arm to an object is equal to a second force vector of a second force applied by a second robotic arm to the object;
• when a first magnitude of the first force vector and a second magnitude of the second force vector are not equal, obtaining a first difference between the first magnitude and the second magnitude;
• and
• according to the first difference, changing at least one of the first force applied by the first robotic arm to the object and the second force applied by the second robotic arm to the object so that the first magnitude and the second magnitude are equal;
• determining whether a first direction of the first force vector and a second direction of the second force vector are in opposite directions respectively, an angle difference between the first direction and the second direction is 180 degrees, and the first direction is not collinear with the second direction;
• obtaining the first difference between the first force vector and the second force vector;
• and
• when the first direction and the second direction are in opposite directions respectively, controlling the first robotic arm or the second robotic arm so that a second difference between a larger one of the first magnitude and the second magnitude and the first difference is equal to a smaller one of the first magnitude and the second magnitude.