Master-slave robot arm control system and control method

A master-slave robot arm control system, comprising:

• a master robot arm;
• a slave robot arm in communication with the master robot arm, wherein the master robot arm is configured to control the slave robot arm, and the slave robot arm generates and outputs a force feedback to the master robot arm constantly, wherein the force feedback reflects the force received by the slave robot arm during movement process;
• and
• a control unit configured to control the master robot arm and the slave robot arm,
• wherein when the control unit executes a robot arm demonstration task, the master robot arm is operated to generate an action command according to a user command and the force feedback, the control unit calculates and generates a movement command according to the action command and the force feedback, the control unit controls the slave robot arm to move according to the movement command and to generate t trajectory and the force feedback correspondingly,
• wherein the control unit executes the robot arm demonstration task for a plurality of times to collect a plurality of movement trajectories of the slave robot arm,
• wherein the control unit utilizes a statistic module to analyze the plurality of movement trajectories and to generate an optimized trajectory of the slave robot arm according to the analysis result,
• wherein the control unit controls the slave robot arm to execute a robot arm task according to the optimized trajectory.