TWI712471B - Mechanical arm system and mechanical arm control method - Google Patents

Abstract

A mechanical arm system includes at least two arm axes, at least two control devices and at least two motor devices. Each of the control devices includes a first control unit, a mechanical arm control unit and a driving unit. The first control unit receives an end position command to output a first torque signal. The mechanical arm control unit includes a rigid mechanical unit and a model mechanical unit. The rigid mechanical unit receives the first torque signal to obtain a rigid mechanical torque, and the model mechanical unit receives the rigid mechanical torque and operates the flexible mechanical model to establish the mechanical arm model for obtaining the target torque, and the target position signal is output according to the target torque. The driving unit generates a driving signal according to the target position signal to adjust a rotation angle of the corresponding motor device.

Description

Mechanical arm system and mechanical arm control method

The present invention relates to a mechanical arm system, in particular to a mechanical arm system with a distributed control system and a control method thereof.

With the technological development of mechanical arm systems, mechanical arm systems have been widely used in industry and manufacturing. In order to meet the needs of future Industry 4.0, the accuracy and scope of application of the robotic arm system are gradually increasing.

However, current robotic arm systems rely too much on a central processing system (for example, a central processing unit or a central control unit, etc.) to perform various operations. As the demands of the manufacturing industry increase, current robotic arm systems have multiple arm axis designs. Since the calculation of each arm axis of a mechanical arm system with multiple arm axes is different, the central processing system of the mechanical arm system will have more and more calculations, so that the central processing system may be affected by the amount of calculations. Too big to be affordable.

In addition, each arm axis of the current robotic arm system has a processor (or control unit, control chip, other control device) and so on. Since the central processing system is responsible for most of the calculations of the mechanical arm system, the processor in each arm axis is often in an idle state. As a result, the current control method of the mechanical arm system is prone to waste of hardware resources and increase in cost. In addition, since the central processing system is responsible for most of the calculations of the robotic arm system, it is difficult for the central processing system to additionally be responsible for other functions. In other words, the current architecture of the robotic arm system is difficult to be widely used and designed.

In view of this, the present invention proposes a mechanical arm system with a distributed control system. Through the control device of each arm axis, the calculation of each axis is independently calculated, reducing the calculation burden of the central processing system. In this way, the robotic arm system of the present invention can maximize the use of hardware resources, reduce costs, and increase the scope of application.

A mechanical arm system includes at least two arm shafts, at least two control devices and at least two motor devices, wherein the control devices respectively control the corresponding motor devices to adjust the positions of the corresponding arm shafts. Each of these control devices includes: a first control unit, a robotic arm control unit, a driving unit, and a measurement processing unit. The first control unit receives the end position command to output the first torque signal. The robotic arm control unit includes a rigid mechanical unit and a model mechanical unit. The rigid mechanical unit receives the first torque signal and runs the rigid mechanical model to obtain the rigid mechanical torque. The model mechanical unit receives the rigid mechanical torque and runs the flexible mechanical model to build the robot arm model to obtain the target torque, and output a target position signal according to the target torque. The driving unit generates a driving signal according to the target position signal to adjust the rotation angle of the corresponding motor device. The measurement processing unit is used to measure the rotation angle, rotation speed, and rotation acceleration of the corresponding motor device. The rigid mechanical unit in the robotic arm control unit of one of the at least two control devices receives the rotation angle, rotation speed, and rotation acceleration of the motor devices corresponding to the other of the at least two control devices to adjust the rigid mechanical model to change Rigid mechanical torque.

A mechanical arm system includes an arm shaft, a motor device coupled to the arm shaft, and a control device coupled to the motor device. The control device includes: a first control unit, a robotic arm control unit, a drive unit, and a measurement processing unit. The first control unit receives the end position command signal to output the first torque signal. The robotic arm control unit includes a rigid mechanical unit and a model mechanical unit. The rigid mechanical unit receives the first torque signal and runs the rigid mechanical model to obtain the rigid mechanical torque. The model mechanical unit receives the rigid mechanical torque and runs the flexible mechanical model to build the mechanical arm model to obtain the target torque, and outputs a target position signal according to the target torque. The driving unit generates a driving signal according to the target position signal to adjust the rotation angle of the motor device. The measurement processing unit is used to measure the motor device to output motion parameters of the motor device, where the motion parameters include rotation angle, rotation speed, and rotation acceleration. The rigid mechanical unit receives the motion parameters of the motor device to adjust the rigid mechanical model to change the rigid mechanical torque.

A robotic arm control method is executed by the robotic arm system. The robotic arm system includes at least two arm shafts, at least two control devices, and at least two motor devices. The control devices respectively control the corresponding motor devices to adjust the positions of the corresponding arm shafts respectively. Each of the control devices executing the robot control method includes the following steps: receiving an end position command signal to output a first torque signal. Receive the first torque signal and run the rigid machine model to obtain the rigid machine torque. Receive the rigid mechanical torque and run the flexible mechanical model to build the robot arm model to obtain the target torque. The target position signal is output according to the target torque. According to the target position signal, a driving signal is generated to adjust the rotation angle of the corresponding motor device. Measure the corresponding rotation angle, rotation speed and rotation acceleration of the motor device. One of the at least two control devices receives the rotation angle, the rotation speed, and the rotation acceleration of the motor devices corresponding to the other of the at least two control devices, so as to adjust the rigid mechanical model to change the rigid mechanical torque.

The present invention is described with reference to the drawings, in which the same reference numerals are used in all the drawings to indicate similar or equivalent elements. The drawings are not drawn to scale, but merely serve to illustrate the invention. Several aspects of the present invention are described below, with reference to example applications for explanation. It should be understood that many specific details, relationships, and methods are set forth to provide a comprehensive understanding of the present invention. However, those of ordinary skill in the relevant art will readily recognize that the present invention can be implemented even without one or more specific details or without using other methods to implement the present invention. In other cases, the conventional structure or operation is not shown in detail to avoid obscuring the present invention. The present invention is not limited by the order of the actions or events shown, as some actions may occur in a different order and/or simultaneously with other actions or events. In addition, not all the described actions or events need to be implemented according to the method of the present invention.

The following description is an embodiment of the present invention. Its purpose is to exemplify the general principles of the present invention, and should not be regarded as a limitation of the present invention. The scope of the present invention should be defined by the scope of the patent application.

FIG. 1 is a structural diagram of a robotic arm system 400 according to an embodiment of the prior art. As shown in Figure 1, in the traditional robotic arm system 400, when the central control unit receives the motion control command C1, the central control unit 400a calculates the movement of each arm axis according to the motion control command C1, and outputs each arm The shaft torque command C2 is given to the control device 400b of the arm shaft. The arm axis control device 400b includes a plurality of arm control devices, such as the first to third arm control devices 401b to 403b. The first to third arm control devices 401b~403b output the motor current command C3 of each arm axis according to the torque command C2 of each arm axis to drive the motor device of each arm axis. Then, the arm axis control device 400b detects the movement state of each arm axis. The central control unit 400a receives the movement state C4 of each arm axis through the arm axis control device 400b. It can be seen that, in the traditional robotic arm system 400, the central control unit 400a is mainly responsible for the calculation of each arm axis.

The traditional robotic arm system 400 obviously does not make good use of the hardware resources of the control device 400b for each arm axis. In addition, due to the diversified demands on the market, the number of arm axes of the robotic arm system needs to be adjusted more flexibly. However, because the hardware resources of the central control unit 400a of the traditional robotic arm system 400 are limited, the traditional robotic arm system 400 cannot be designed more flexibly. In addition, as shown in Fig. 1, since the transmission path of the torque command C2 and the movement state C4 of the arm shaft is complicated and lengthy, it is easy to cause data delay. Therefore, it is difficult for the calculation result of the central control unit to immediately reflect the actual motion state of the robotic arm system.

In addition, the conventional control method of the robotic arm system 400 is also less suitable for flexible robotic arms. When a flexible robot arm moves, the end position of the robot arm will oscillate. The traditional robotic arm system 400 is difficult to respond to the oscillation phenomenon of the end position of the high-frequency arm shaft due to the data delay, so the accuracy of the traditional robotic arm system 400 is difficult to improve.

FIG. 2 is a structural diagram of a robotic arm system 500 according to an embodiment of the invention. As shown in Figure 2, the robotic arm system 500 includes at least two arm shafts (300a and 300b), at least two control devices (100a and 100b), and at least two motor devices (200a and 200b). Wherein, the control devices respectively control the corresponding motor devices to adjust the positions of the corresponding arm shafts respectively. That is, in this embodiment, the control device 100a controls the motor device 200a to adjust the position of the arm shaft 300a. The control device 100b controls the motor device 200b to adjust the position of the arm shaft 300b. It is particularly noted that in this embodiment, the number of arm shafts, control devices, and motor devices shown in Figure 2 are only used to illustrate the present invention, but the present invention is not limited thereto.

Each control device (100a and 100b) in the robotic arm system 500 includes: a first control unit (120a or 120b), a robotic arm control unit (130a or 130b), a driving unit (180a or 180b), and a measurement processing unit ( 190a or 190b). In this embodiment, the control device 100a includes: a first control unit 120a, a robotic arm control unit 130a, a driving unit 180a, and a measurement processing unit 190a, and the robotic arm control unit 130a also includes a rigid mechanical unit 140a and a model mechanical unit 160a . The control device 100b includes a first control unit 120b, a robotic arm control unit 130b, a driving unit 180b, and a measurement processing unit 190b, and the robotic arm control unit 130b also includes a rigid mechanical unit 140b and a model mechanical unit 160b. The operation method of the robotic arm system 500 will be described in detail below.

In this embodiment, since the structure and operation method of the control devices 100a and 100b are the same, the present invention only describes the operation method of the control device 100a, and the operation method of the control device 100b is not described in detail.

In Figure 2, when the first control unit 120a in the control device 100a receives the end position command S1a to output the first torque signal τ1. Among them, those of ordinary skill in the art can understand that the first control unit 120a has a speed controller (not shown), a position controller (not shown), and so on. Therefore, the first control unit 120a can obtain the target rotation angle according to the end position command S1a, and calculate the target rotation acceleration and the target rotation speed through the speed controller and the position controller, respectively. That is, in some embodiments, the first torque signal τ1 output by the first control unit 120a includes a target rotation angle, a target rotation speed, and a target rotation acceleration. Since those of ordinary skill in the art can understand the operating principle of the first control unit 120a, the present invention will not be repeated.

The rigid mechanical unit 140a in the robotic arm control unit 130a has a rigid mechanical equation. When the rigid mechanical unit 140a receives the first torque signal τ1 from the first control unit 120a, the rigid mechanical unit 140a runs the rigid mechanical equation according to the target rotation angle, target rotation speed, and target rotation acceleration of the first torque signal τ1 to Build a rigid mechanical model. After the rigid mechanical unit 140a completes the rigid mechanical model, the rigid mechanical unit 140a calculates the rigid mechanical torque τ2 according to the rigid mechanical model, and transmits the rigid mechanical torque τ2 to the model mechanical unit 160a in the robot arm control unit 130a.

The model mechanical unit 160a receives the rigid mechanical torque τ2 (and/or the rotation angle and the rotation speed of other motor devices, such as the motor device 200b), and runs a flexible mechanical equation to build a mechanical arm model. After the model mechanical unit 160a completes the robot arm model, the model mechanical unit 160a calculates the target torque according to the robot arm model. Then, the model mechanical unit 160a outputs a target position signal S2 to the driving unit 180a according to the target torque. The driving unit 180a outputs a driving signal S3 to the motor device 200a corresponding to the control device 100a according to the target position signal S2 to adjust the rotation angle of the motor device 200a to change the position of the arm shaft 300a corresponding to the control device 100a.

、旋轉速度

及旋轉加速度

。於此實施例中，量測處理單元190a具有速度控制器(未圖示)及位置控制器(未圖示)。因此，量測處理單元190a量測馬達裝置200a的旋轉角度

，並依據旋轉角度

使用位置控制器及速度控制器分別計算出馬達裝置200a的旋轉速度

及旋轉加速度

。量測處理單元190a將馬達裝置200a的運動參數(旋轉角度

、旋轉速度

及旋轉加速度

)傳送給剛性機械單元140a。另外，量測處理單元190a輸出馬達裝置200a的運動參數(旋轉角度

、旋轉速度

及旋轉加速度

)給機械手臂系統500中的其他控制裝置，例如：控制裝置100b中的剛性機械單元140b。 When the driving unit 180a adjusts the rotation angle of the motor device 200a according to the target position signal S2, the measurement processing unit 190a in the control device 100a will measure and calculate the motion parameters of the motor device 200a, including the rotation angle

,spinning speed

And rotational acceleration

. In this embodiment, the measurement processing unit 190a has a speed controller (not shown) and a position controller (not shown). Therefore, the measurement processing unit 190a measures the rotation angle of the motor device 200a

, And based on the rotation angle

Use the position controller and the speed controller to calculate the rotation speed of the motor device 200a

And rotational acceleration

. The measurement processing unit 190a converts the motion parameter (rotation angle) of the motor device 200a

,spinning speed

And rotational acceleration

) Is transmitted to the rigid mechanical unit 140a. In addition, the measurement processing unit 190a outputs the motion parameter (rotation angle) of the motor device 200a

,spinning speed

And rotational acceleration

) To other control devices in the robotic arm system 500, such as the rigid mechanical unit 140b in the control device 100b.

、旋轉速度

及旋轉加速度

給控制裝置100b中的剛性機械單元140b，並且量測處理單元190b輸出旋轉角度

、旋轉速度

及旋轉加速度

給控制裝置100a中的剛性機械單元140a。但是本發明不限於此。在其他一些實施例中，當機械手臂系統具有多個控制裝置(或至少二控制裝置)以控制多個馬達裝置(或至少二馬達裝置)以調整多個手臂軸(或至少二手臂軸)之位置時，多個控制裝置之一者量測的旋轉角度、旋轉速度及旋轉加速度，會傳送至其他控制裝置之剛性機械單元。也就是說，多個控制裝置之一者之剛性機械單元會接收來自其他控制裝置量測的旋轉角度、旋轉速度及旋轉加速度。 It is particularly noted that in this embodiment, since the present invention only shows the control devices 100a and 100b as examples, the measurement processing unit 190a outputs the rotation angle

,spinning speed

And rotational acceleration

To the rigid mechanical unit 140b in the control device 100b, and the measurement processing unit 190b outputs the rotation angle

,spinning speed

And rotational acceleration

To the rigid mechanical unit 140a in the control device 100a. But the present invention is not limited to this. In some other embodiments, when the robotic arm system has multiple control devices (or at least two control devices) to control multiple motor devices (or at least two motor devices) to adjust multiple arm shafts (or at least two arm shafts) In position, the rotation angle, rotation speed and rotation acceleration measured by one of the multiple control devices will be transmitted to the rigid mechanical unit of the other control device. In other words, the rigid mechanical unit of one of the multiple control devices receives the rotation angle, rotation speed, and rotation acceleration measured from other control devices.

、旋轉速度

及旋轉加速度

)及馬達裝置200b的運動參數(旋轉角度

、旋轉速度

及旋轉加速度

)之後，剛性機械單元140a依據馬達裝置200a及200b的運動參數運行剛性機械方程式以調整剛性機械模型，並且改變剛性機械轉矩τ2給模型機械單元160a。模型機械單元160a則會依據已改變的剛性機械轉矩τ2調整機械手臂模型以改變目標轉矩與目標位置。 In this embodiment, the rigid mechanical unit 140a receives the motion parameter (rotation angle) of the motor device 200a

,spinning speed

And rotational acceleration

) And the motion parameters of the motor device 200b (rotation angle

,spinning speed

And rotational acceleration

) Afterwards, the rigid mechanical unit 140a runs rigid mechanical equations according to the motion parameters of the motor devices 200a and 200b to adjust the rigid mechanical model, and changes the rigid mechanical torque τ2 to the model mechanical unit 160a. The model mechanical unit 160a adjusts the robot arm model according to the changed rigid mechanical torque τ2 to change the target torque and the target position.

At this time, the model mechanical unit 160a outputs the first feedback signal S4 to the first control unit 120a according to the changed target torque. When the first control unit 120a determines that the difference between the end position command S1a and the first feedback signal S4 does not fall within the first error range, the first control unit 120a adjusts the magnitude of the first torque signal τ1 to the rigid mechanical unit 140a. In some embodiments, the first error range is between 0~5%.

The rigid mechanical unit 140a re-runs the rigid mechanical equation according to the adjusted first torque signal τ1 to adjust the rigid mechanical model so that the rigid mechanical torque τ2 is changed. In some embodiments, when the first control unit 120a changes the first torque signal τ1 to the rigid mechanical unit 140a according to the first error range, the rigid mechanical unit 140a depends on the adjusted target rotation angle in the first torque signal τ1 , The target rotation speed and target rotation acceleration run the rigid machine equation to change the rigid machine torque τ2.

、旋轉速度

及旋轉加速度

)，並且重複前面所述之操作方法。 The model mechanical unit 160a then outputs a target position signal S2 to the drive unit 180a according to the changed rigid mechanical torque τ2 to adjust the rotation angle of the motor device 200a. Then the measurement processing unit 190a measures the motion parameters (rotation angle) of the motor device 200a

,spinning speed

And rotational acceleration

), and repeat the operation method described above.

In some embodiments, the rigid mechanical unit (140a, 140b) and the model mechanical unit (160a, 160b) mentioned in the present invention can be components with computing functions, such as: central processing unit (CPU), controller, processing Device, control chip, etc., but the present invention is not limited to this. In some other embodiments, the robotic arm control unit (130a, 130b) may be a component with computing functions, such as a central processing unit (CPU), a controller, a processor, a control chip, etc., and a rigid mechanical unit (140a, 140b) and the model mechanical unit (160a, 160b) can be firmware or software provided in the robot arm control unit (130a, 130b), but the invention is not limited thereto.

It can be seen that, in the present invention, the robot arm control units 130a and 130b in the robot arm system 500 play the core role. The operating principles and methods of the robotic arm control units 130a and 130b will be described in detail below.

FIG. 3 is a block diagram of the robot arm control unit 130a in the robot arm system 500 according to an embodiment of the invention. In the present invention, since the operating methods and principles of the robotic arm control units 130a and 130b are the same, the present invention only describes the operating principles of the robotic arm control unit 130a, and the robotic arm control unit 130b is not described in detail. Please refer to FIG. 2 and FIG. 3 at the same time to illustrate the embodiments of the present invention.

(1)。 In the robot arm control unit 130a, when the rigid mechanical unit 140a receives the first torque signal τ1 from the first control unit 120a, the rigid mechanical unit 140a will base on the target rotation angle, target rotation speed and the first torque signal τ1. The target rotational acceleration runs the rigid machine equation to build the rigid machine model. The equation of rigid machinery is shown in the following formula (1):

(1).

) _n×n包括以下元素：旋轉角度(

)，並且矩陣M(

) _n×n為n行及n列的矩陣，並且矩陣M(

) _n×n與旋轉加速度(

)相乘之結果可以代表手臂軸的慣性力。矩陣C(

,

) _n×1包括以下元素：旋轉角度(

)及旋轉速度(

)，並且矩陣C(

,

) _n×1為n行及1列的矩陣，並且矩陣C(

,

) _n×1可以代表手臂軸的科氏力(或向心力)。矩陣G(

) _n×1包括以下元素：旋轉角度(

)參數，並且矩陣G(

) _n×1為n行及1列的矩陣，並且矩陣G(

) _n×1可以代表手臂軸的重力。矩陣F(

) _n×1包括以下元素：旋轉速度(

)參數，並且矩陣F(

) _n×1為n行及1列的矩陣，並且矩陣F(

) _n×1可以代表手臂軸的動摩擦力。然後，依據前面所述，剛性機械單元140a對手臂軸的慣性力、手臂軸的科氏力(或向心力)、手臂軸的重力及手臂軸的動摩擦力進行相加以建立剛性機械模型。剛性機械單元140a對手臂軸的慣性力、手臂軸的科氏力(或向心力)、手臂軸的重力及手臂軸的動摩擦力進行相加以取得一總和，並且該總和作為剛性機械轉矩之大小。在一些實施例中，傳統的機械手臂系統可以藉由DH參數法取得轉換矩陣。然後，對轉換矩陣進行微分後，執行Lagrage-Euler方程式的推導以取得計算式(1)中的矩陣M、C、G及F。其中。於一些實施例中，馬達裝置的多個動力參數包括：慣性力(矩陣M)、科氏立與向心力(矩陣C)、重力(矩陣G)及動摩擦力(矩陣F)，但本發明不限於此。由於本領域之普通技術人員可以透過上述的方法取得計算式(1)中的矩陣M、C、G及F，故本發明不再重複敘述。 In the calculation formula (1), M, C, G and F are all matrices. Matrix M(

) _n×n includes the following elements: rotation angle (

), and the matrix M(

) _n×n is a matrix with n rows and n columns, and the matrix M(

) _n×n and rotational acceleration (

) The result of multiplication can represent the inertial force of the arm axis. Matrix C(

,

) _n×1 includes the following elements: rotation angle (

) And rotation speed (

), and matrix C(

,

) _n×1 is a matrix with n rows and 1 column, and the matrix C(

,

) _n×1 can represent the Coriolis force (or centripetal force) of the arm axis. Matrix G(

) _n×1 includes the following elements: rotation angle (

) Parameters, and the matrix G(

) _n×1 is a matrix with n rows and 1 column, and the matrix G(

) _n×1 can represent the gravity of the arm axis. Matrix F(

) _n×1 includes the following elements: rotation speed (

) Parameters, and the matrix F(

) _n×1 is a matrix with n rows and 1 column, and the matrix F(

) _n×1 can represent the dynamic friction of the arm shaft. Then, according to the foregoing, the rigid mechanical unit 140a adds the inertial force of the arm shaft, the Coriolis force (or centripetal force) of the arm shaft, the gravity of the arm shaft and the dynamic friction force of the arm shaft to establish a rigid mechanical model. The rigid mechanical unit 140a adds the inertial force of the arm shaft, the Coriolis force (or centripetal force) of the arm shaft, the gravity of the arm shaft and the dynamic friction force of the arm shaft to obtain a sum, and the sum is used as the magnitude of the rigid mechanical torque. In some embodiments, the traditional robotic arm system can obtain the conversion matrix by the DH parameter method. Then, after the conversion matrix is differentiated, the Lagrage-Euler equation is derived to obtain the matrices M, C, G, and F in the calculation formula (1). among them. In some embodiments, the multiple dynamic parameters of the motor device include: inertial force (matrix M), Coriolis and centripetal force (matrix C), gravity (matrix G) and dynamic friction (matrix F), but the invention is not limited to this. Since a person of ordinary skill in the art can obtain the matrices M, C, G, and F in the calculation formula (1) through the above-mentioned method, the present invention will not repeat the description.

In Figure 3, the rigid machine unit 140a first substitutes the target rotation angle, target rotation speed, and target rotation acceleration of the first torque signal τ1 into the rigid machine equation (as shown in equation (1)) to obtain a rigid machine model , And then obtain the rigid mechanical torque τ2.

、旋轉速度

及旋轉加速度

)，並且量測處理單元190b還沒有輸出馬達裝置200b的運動參數(旋轉角度

、旋轉速度

及旋轉加速度

)。此時，剛性機械單元140a依據第一轉矩訊號τ1中的目標旋轉角度、目標旋轉速度及目標旋轉加速度，根據剛性機械方程式(如計算式(1)所示)以取得矩陣M、C、G及F，並且使用矩陣M、C、G及F定義或建立剛性機械模型，並且使用剛性機械模型以取得剛性機械轉矩τ2。也就是說，當剛性機械單元140a初次接收第一轉矩訊號τ1時，剛性機械單元140a中的參數

及

分別為第一轉矩訊號τ1的目標旋轉角度、目標旋轉速度及目標旋轉加速度，並且參數

及

為零。在其他一些實施例，由於馬達裝置200b的位置與起始位置之間有偏移，使得馬達裝置200b的起始的旋轉角度

不為零。 In some embodiments, when the rigid mechanical unit 140a receives the first torque signal τ1 for the first time, the measurement processing unit 190a has not output the motion parameter (rotation angle) of the motor device 200a.

,spinning speed

And rotational acceleration

), and the measurement processing unit 190b has not output the motion parameter (rotation angle

,spinning speed

And rotational acceleration

). At this time, the rigid mechanical unit 140a obtains the matrices M, C, G according to the rigid mechanical equation (as shown in formula (1)) according to the target rotation angle, target rotation speed, and target rotation acceleration in the first torque signal τ1 And F, and use the matrices M, C, G, and F to define or establish a rigid machine model, and use the rigid machine model to obtain the rigid machine torque τ2. That is, when the rigid mechanical unit 140a receives the first torque signal τ1 for the first time, the parameters in the rigid mechanical unit 140a

and

Are the target rotation angle, target rotation speed, and target rotation acceleration of the first torque signal τ1, and the parameters

and

Is zero. In some other embodiments, due to the offset between the position of the motor device 200b and the starting position, the initial rotation angle of the motor device 200b is

Not zero.

The model mechanical unit 160a receives the rigid mechanical torque τ2 to output the target position signal S2 to the drive unit 180a, so that the motor devices 200a and 200b start to rotate. When the motor devices 200a and 200b start to rotate, the measurement processing devices 190a and 190b start to output the motion parameters of the motor devices 200a and 200b.

、旋轉速度

、旋轉加速度

)。也就是說，在計算式(1)中，矩陣M、C、G及F中需要加入馬達裝置200a及馬達裝置200b之運動參數。 Since the robot arm system 500 of the present invention has at least two arm axes (for example: 300a and 300b), the robot arm control unit 130a not only calculates the motion parameters of the motor device 200a, but also needs to calculate the motion parameters (rotation angle) of the motor device 200b.

,spinning speed

, Rotation acceleration

). In other words, in the calculation formula (1), the motion parameters of the motor device 200a and the motor device 200b need to be added to the matrices M, C, G, and F.

,

, I ₁ , I ₂ )代表為馬達裝置200a的第一慣性力，並且 I ₁ 及 I ₂ 分別為馬達裝置200a的慣性常數及馬達裝置200b的慣性常數，並且

及

分別為馬達裝置200a之旋轉角度及馬達裝置200b之旋轉角度。矩陣M ₁₂(

,

, I ₂ )

代表為馬達裝置200a對應馬達裝置200b的第二慣性力，並且

為馬達裝置200b旋轉加速度

。矩陣C ₁(

,

,

I ₁ , I ₂ )代表為馬達裝置200a的科氏力(或向心力)。矩陣G ₁(

,

,

I ₁ , I ₂ )代表為馬達裝置200a所承受手臂軸300a的重力。矩陣F ₁(

)代表為馬達裝置200a的動摩擦力。 Therefore, in Figure 3, the matrix M ₁₁ (

,

, I ₁ , I ₂ ) represent the first inertial force of the motor device 200a, and I ₁ and I ₂ are the inertia constants of the motor device 200a and the motor device 200b, respectively, and

and

These are the rotation angle of the motor device 200a and the rotation angle of the motor device 200b. Matrix M ₁₂ (

,

, I ₂ )

Represents the second inertial force of the motor device 200a corresponding to the motor device 200b, and

Is the rotation acceleration of the motor device 200b

. Matrix C ₁ (

,

,

I ₁ , I ₂ ) represent the Coriolis force (or centripetal force) of the motor device 200a. Matrix G ₁ (

,

,

I ₁ , I ₂ ) represent the gravity of the arm shaft 300a borne by the motor device 200a. Matrix F ₁ (

) Represents the dynamic friction of the motor device 200a.

In this embodiment, the inertia constant I ₁ of the motor device _{200 a} and the inertia constant I ₂ of the motor device ₂₀₀ b are the moments of inertia (or moment of inertia) of the motor device _{200 a} and the motor device ₂₀₀ b, respectively. Those of ordinary skill in the art can understand that the inertia constant I ₁ and the inertia constant I ₂ of the motor device can be calculated according to the mass and the position of the center of mass of the arm shaft and the mass of the motor device and the position of the rotating shaft. Since the mass and center of mass position of the arm shaft and the mass of the motor device and the position of the rotating shaft are fixed, the inertia constant I ₁ and the inertial constant I ₂ are fixed values. In this embodiment, the magnitudes of the inertia constant I ₁ and the inertia constant I ₂ can be directly set in the rigid machine equation (calculation formula (1)) in the rigid machine unit 140a.

)、第二慣性力(矩陣M ₁₂*

)、科氏力(矩陣C ₁)、重力(矩陣G ₁)及動摩擦力(矩陣F ₁)彼此相加以建立剛性機械模型，並且取得一總和以作為剛性機械轉矩τ2。剛性機械單元140a傳送剛性機械轉矩τ2給模型機械單元160a。 Then, according to formula (1), the rigid mechanical unit 140a calculates the first inertial force (matrix M ₁₁ *

), the second inertial force (matrix M ₁₂ *

), Coriolis force (matrix C ₁ ), gravity (matrix G ₁ ) and dynamic friction force (matrix F ₁ ) are added to each other to establish a rigid machine model, and a total is obtained as the rigid machine torque τ2. The rigid mechanical unit 140a transmits the rigid mechanical torque τ2 to the model mechanical unit 160a.

(2)。 本領域之普通技術人員可依據文獻1(C. Sun, W. He, and J. Hong, “Neural Network Control of a Flexible Robotic Manipulator Using the Lumped Spring-Mass Model,” IEEE Transactions on Systems, Man, and Cybernetics)，進行運算以取得計算式(2)。 In one embodiment, the model mechanical unit 160a includes a flexible mechanical model and a mechanical arm model, and the method for establishing the flexible mechanical model and the mechanical arm model by the model mechanical unit 160a is detailed as follows. In the model mechanical unit 160a, when the model mechanical unit 160a receives the rigid mechanical torque τ2 from the rigid mechanical unit 140a, the model mechanical unit 160a obtains the flexible mechanical torque through the flexible mechanical equation. The equation of flexible machinery is shown in the following formula (2):

(2). Those of ordinary skill in the art can refer to Literature 1 (C. Sun, W. He, and J. Hong, “Neural Network Control of a Flexible Robotic Manipulator Using the Lumped Spring-Mass Model,” IEEE Transactions on Systems, Man, and Cybernetics), perform calculations to obtain formula (2).

代表為手臂軸(300a或300b)的末端位置的偏移速度。D _nxn(

)為阻尼作用力，以及K _nxn(ξ)為彈簧作用力。模型機械單元160a依據撓性機械方程式(計算式(2))計算出撓性機械轉矩，並依據撓性機械方程式建立撓性機械模型。在建立撓性機械模型之後，模型機械單元160a將剛性機械方程式(如計算式(1))及撓性機械方程式(如計算式(2))相加以建立機械手臂模型，並且模型機械單元160a將上述之剛性機械轉矩及撓性機械轉矩之總和做為目標轉矩。也就是說，目標轉矩為計算式(1)及計算式(2)之總和，如下計算式(3)所示：

(3)。 In the calculation formula (2), ξ represents the offset angle of the end position of the arm shaft (300a or 300b), and

It represents the offset speed of the end position of the arm axis (300a or 300b). D _nxn (

) Is the damping force, and K _nxn (ξ) is the spring force. The model mechanical unit 160a calculates the flexible mechanical torque according to the flexible mechanical equation (calculation formula (2)), and establishes the flexible mechanical model according to the flexible mechanical equation. After the flexible machine model is established, the model machine unit 160a adds the rigid machine equation (such as equation (1)) and the flexible machine equation (such as equation (2)) to build a robot arm model, and the model machine unit 160a adds The sum of the above rigid mechanical torque and flexible mechanical torque is used as the target torque. In other words, the target torque is the sum of the calculation formula (1) and the calculation formula (2), as shown in the following calculation formula (3):

(3).

(4)。 In this embodiment, the model mechanical unit 160a can establish a robot arm model according to the calculation formula (3). Then, the model mechanical unit 160a can shift and integrate the calculation formula (3), that is, the calculation formula (4) can be obtained as follows:

(4).

(5)

(6)。 Next, by integrating the calculation formula (4), the calculation formula (5) can be obtained, and the calculation formula (5) can be obtained by integrating the calculation formula (6).

(5)

(6).

When the rigid mechanical unit 140a outputs the rigid mechanical torque τ2 according to the first torque signal τ1, the model mechanical unit 160a can obtain the target position from the target torque through the calculation formula (6), and output the target position signal S2 to the driving unit 180a.

In addition, through calculation formulas (3) to (6), the robot arm control unit 130a calculates the position of the arm shaft 300a (or the rotation angle of the motor device 200a) according to the motion parameters of the motor devices 200a and 200b. Then, the model mechanical unit 160a outputs the first feedback signal S4 to the first control unit 120a according to the position of the arm shaft 300a (or the rotation angle of the motor device 200a). That is, after the rigid machine unit 140a receives the motion parameters of the motor devices 200a and 200b, it runs the calculation formula (1) and outputs the rigid machine torque τ2 to the model machine unit 160a. After receiving the rigid mechanical torque τ2, the model mechanical unit 160a runs the calculation formulas (3) to (6) to obtain the position of the arm shaft 300a (or the rotation angle of the motor device 200a). Then, the model mechanical unit 160a outputs the first feedback signal S4 to the first control unit 120a according to the position of the arm shaft 300a.

When the first control unit 120a determines that the phase difference between the end position command S1a and the first feedback signal S4 does not fall within the first error range Δθ, the first control unit 120a adjusts the magnitude of the first torque signal τ1 to the rigid mechanical unit 140a. At this time, the rigid mechanical unit 140a repeatedly executes the above-mentioned operation method.

FIG. 4 shows the architecture diagram of the robotic arm system 600 according to some other embodiments of the present invention. In this embodiment, since the measurement processing units 190a and 190b are provided in the motor devices 200a and 200b, respectively, they are not shown in FIG. 4. In addition, in FIG. 4, the motor device 200b is configured to control the arm shaft 300b of the robot arm system 600, and the arm shaft 300b is located at the end of the robot arm system 600. In practical applications, since the arm shaft 300b is located at the end position of the robotic arm system 600, the arm shaft 300b will be equipped with an end effector, such as a mechanical gripper. In this embodiment, the operating principles and methods of the first control unit (120a and 120b), the rigid mechanical unit 140a, and the model mechanical unit (160a and 160b) have been described in detail above, so they will not be repeated here.

In this embodiment, since the motor device 200b is used to control the arm shaft 300b at the end position of the robotic arm system 600, the control of the motor device 200b can partially ignore the motion parameters of the motor device 200a and the arm shaft 300a. Therefore, the partial matrix in the rigid mechanical equation in the rigid mechanical unit 140b is different from the rigid mechanical unit 140a.

及馬達裝置200b的慣性常數 I ₂ 。矩陣G ₂具有以下參數：馬達裝置200b旋轉角度

及馬達裝置200b的慣性常數 I ₂ 。 As mentioned above, the first inertial force (matrix M ₂₂ ) and gravity (matrix G ₂ ) in the rigid mechanical unit 140b may not be affected by the arm axis 300a. Therefore, as shown in Figure 4, the matrix M ₂₂ has the following parameters: the rotation angle of the motor device 200b

And the inertia constant I _{2 of the} motor device 200b. The matrix G ₂ has the following parameters: the rotation angle of the motor device 200b

And the inertia constant I _{2 of the} motor device 200b.

,

, I ₂ )

代表為手臂軸300b對應手臂軸300a的第二慣性力，其中

為馬達裝置200a旋轉加速度。 In addition, in the rigid mechanical unit 140b, the matrix M ₂₁ (

,

, I ₂ )

Represents the second inertial force of arm axis 300b corresponding to arm axis 300a, where

Is the rotational acceleration of the motor device 200a.

、旋轉速度

、旋轉角度

、旋轉速度

、馬達裝置200a的慣性常數 I ₁ (代表為手臂軸300a的慣性常數)及馬達裝置200b的慣性常數 I ₂ (代表為手臂軸300b的慣性常數)。矩陣F ₁(

)代表為手臂軸300a的動摩擦力，矩陣F ₁(

)中的

為馬達裝置200b之旋轉速度。 In this embodiment, the Coriolis force (matrix C1 and C2) in the rigid mechanical unit 140a and the rigid mechanical unit 140b refer to the same parameters, including the rotation angle

,spinning speed

,Rotation angle

,spinning speed

The inertia constant I _{1 of the} motor device 200a (representing the inertia constant of the arm shaft 300a) and the inertia constant I _{2 of the} motor device 200b (representing the inertia constant of the arm shaft 300b). Matrix F ₁ (

) Represents the dynamic friction force of the arm axis 300a, the matrix F ₁ (

)middle

Is the rotation speed of the motor device 200b.

In this embodiment, the driving units 180a and 180b also have a feedback control system. Since the control methods of the driving units 180a and 180b are the same, the present invention only describes the operation method of the driving unit 180a.

The driving unit 180a includes a second control unit 182a and a driving circuit 184a. The second control unit 182a is coupled to the target position signal S2 and the rigid mechanical torque τ2 to output the second torque signal τ3 to the driving circuit 184a. The driving circuit 184a outputs a driving signal S3 according to the second torque signal τ3.

之相差沒有落入第二誤差範圍時，第二控制單元182a調整第二轉矩訊號τ3之大小。在一些實施例中，第二誤差範圍介於0~5%。 When the second control unit 182a determines the target position signal S2 and the rotation angle of the motor device 200a

When the phase difference does not fall within the second error range, the second control unit 182a adjusts the magnitude of the second torque signal τ3. In some embodiments, the second error range is between 0~5%.

FIG. 5 shows the architecture diagram of the robotic arm system 800 according to some other embodiments of the present invention. In this embodiment, the robotic arm system 800 includes a single arm shaft 300a, a motor device 200a coupled to the arm shaft 300a, and a control device 700 coupled to the motor device 200a. In this embodiment, the structure and operation method of the control device 700 are the same as the control devices 100a and 100b shown in FIG. In various embodiments, the measurement processing unit 190a may be provided in the control device 700 or outside the control device 700, but the present invention is not limited thereto.

In addition, similar to the control device 100a shown in FIG. 3, the rigid machine unit 740 in the control device 700 also has a rigid machine equation. However, since the robotic arm system 700 only has a single arm axis, there is no need to consider the motion states of other arm axes. Therefore, the rigid mechanical equation in the rigid mechanical unit 740 will not have a second inertial force. Since the rigid mechanical equation in the rigid mechanical unit 740 does not need to consider the motion state of other arm shafts, the motion parameters of other motor devices can also be ignored.

In this embodiment, the first control unit 120a outputs the first torque signal τ1 according to the end position command S1. At the beginning, the rigid mechanical unit 740 receives the first torque signal τ1 output by the first control unit 120a to output the rigid mechanical torque τ2. The model mechanical unit 160a receives the rigid mechanical torque τ2 to output the target position signal S2 to the driving unit 180a. The driving unit 180a adjusts the rotation angle of the motor device 200a according to the target position signal S2.

、旋轉速度

及旋轉加速度

)，並傳送運動參數給剛性機械單元740。此時，剛性機械單元740依據馬達裝置200a的運動參數(旋轉角度

、旋轉速度

及旋轉加速度

)調整剛性機械轉矩τ2給模型機械單元160a。模型機械單元160a依據已調整的剛性機械轉矩τ2改變目標位置訊號S2給驅動單元180a。 The measurement processing unit 190a measures the motion parameter (rotation angle) of the motor device 200a

,spinning speed

And rotational acceleration

), and transmit the motion parameters to the rigid mechanical unit 740. At this time, the rigid mechanical unit 740 depends on the motion parameter (rotation angle) of the motor device 200a

,spinning speed

And rotational acceleration

) Adjust the rigid mechanical torque τ2 to the model mechanical unit 160a. The model mechanical unit 160a changes the target position signal S2 to the drive unit 180a according to the adjusted rigid mechanical torque τ2.

In some other embodiments, the model mechanical unit 160a outputs the first feedback signal S4 to the first control unit 120a according to the adjusted rigid mechanical torque τ2. Next, the operation method of the first control unit has been described in detail in FIGS. 2 to 4, so it is not repeated here.

FIG. 6 is a flowchart of a control method 900 of the robotic arm system 500 according to an embodiment of the invention. Please refer to Fig. 2 and Fig. 6 at the same time to explain the following embodiments. In Figure 6, the control method 900 can be executed by the control devices 100a and 100b of the mechanical system 500 shown in Figure 2 respectively. In this embodiment, since the control devices 100a and 100b have the same operation control method 900, the present invention only describes the operation control method 900 of the control device 100a.

In Figure 6, the control device 100a starts execution at step 905. The first control unit 120a in the control device 100a receives the end position command signal S1a and outputs the first torque signal τ1. In this embodiment, the first torque signal τ1 includes a target rotation angle, a target rotation speed, and a target rotation acceleration. Then the control device 100a continues to perform step 910.

In step 910, the rigid machine unit 140a in the control device 100a receives the target rotation angle, target rotation speed, and target rotation acceleration in the first torque signal, and runs the rigid machine equation (calculation formula (1)) to establish the rigid machine model. After completing the establishment of the rigid machine model, the rigid machine unit 140a runs the rigid machine model to obtain a sum as the rigid machine torque τ2. Then the control device 100a continues to perform step 915.

In step 915, the model mechanical unit 160a in the control device 100a receives the rigid mechanical torque τ2. At the same time, the model mechanical unit 160a runs the flexible equation (calculation formula (2)) to establish a flexible mechanical model to obtain the flexible mechanical torque. The model mechanical unit 160a adds the rigid mechanical torque τ2 and the flexible mechanical torque to obtain the calculation formula (3), and establishes the robot arm model through the calculation formula (3). The model mechanical unit 160a then obtains the target torque through the robot arm model. Then, the model mechanical unit 160a continues to perform step 920.

In step 920, the model mechanical unit 160a outputs a target position signal S2 to the driving unit 180a according to the target torque. In step 925, the driving unit 180a generates a driving signal S3 to the motor device 200a according to the target position signal S2 to adjust the rotation angle of the motor device 200a. Then the control device 100a continues to perform step 930.

，並計算出馬達裝置200a的旋轉速度

及旋轉加速度

，並且量測處理單元190a傳送馬達裝置200a的運動參數(旋轉角度

、旋轉速度

及旋轉加速度

)給剛性機械單元140a。 In step 930, the measurement processing unit 190a in the control device 100a measures the rotation angle of the motor device 200a

, And calculate the rotation speed of the motor device 200a

And rotational acceleration

, And the measurement processing unit 190a transmits the motion parameter (rotation angle) of the motor device 200a

,spinning speed

And rotational acceleration

) To the rigid mechanical unit 140a.

、旋轉速度

及旋轉加速度

(以下稱為馬達裝置200b的運動參數)。 In step 935, one of the at least two control devices (such as the control device 100a) receives the rotation angle, rotation speed, and rotation acceleration of the motor devices corresponding to the other of the at least two control devices (such as the control device 100b), for example ：The rotation angle of the motor device 200b

,spinning speed

And rotational acceleration

(Hereinafter referred to as the motion parameters of the motor device 200b).

In step 940, the rigid mechanical model of one of the at least two control devices (control device 100a) is adjusted to change the rigid mechanical torque. The rigid machine unit 140a in the control device 100a receives the motion parameters of the motor device 200a and the motor device 200b, and runs the rigid machine equation (equation (1)) to adjust the rigid machine model. The rigid mechanical unit 140a then changes the rigid mechanical torque τ2 to the model mechanical unit 160a according to the adjusted rigid mechanical model.

In step 945, the model mechanical unit 160a receives the changed rigid mechanical torque τ2, and runs the calculation formula (3) to adjust the robot arm model and change the target torque. The model mechanical unit 160a estimates the position of the arm shaft 300a based on the changed target torque and runs the calculation formula (6) to output the first feedback signal S4 to the first control unit 120a.

In step 950, the first control unit 120a determines whether the difference between the end position command S1a and the first feedback signal S4 falls within the first error range. If the phase difference does not fall within the first error range, the first control unit 120a adjusts the first torque signal S1 to the rigid mechanical unit 140a, and the control device 100a starts from step 910 to repeatedly execute the next steps 915 to 950.

In step 950, if the phase difference falls within the first error range, the first control unit 120a will maintain a fixed first torque signal S1 to the rigid mechanical unit 140a. In order to simplify Figure 6, this step is not shown in Figure 6 in the present invention.

In summary, the robotic arm system of the present invention completes the operation of the robotic arm system through the control devices (such as the control devices 100a and 100b) corresponding to each arm axis, and is not a central controller in the robotic arm system. In this way, the central controller (not shown) in the robotic arm system only needs to perform the function of signal transmission. For example: the central controller transmits the motion parameters of the motor device measured by the control device to the rigid mechanical units in other control devices. The central controller still has additional computing power, so that the central controller can be used for more other applications, such as cloud computing, image processing, and network connections. Therefore, the robotic arm system of the present invention can be applied to a wider range of applications and can be designed with more flexibility.

In addition, since the present invention makes full use of the processors of each arm axis (such as the control devices 100a and 100b), the present invention also solves the problems of waste of hardware resources and achieves obvious advantages such as cost reduction.

Although the present invention is disclosed in preferred embodiments as above, it is not intended to limit the present invention. Anyone with ordinary technical knowledge in the art can make some changes and substitutions without departing from the spirit and scope of the present invention. Therefore, this The scope of protection of the invention shall be determined by the scope of the subsequent patent application.

The terms used herein are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" also include plural forms. In addition, as far as the terms "include," "include," "have," or other variations are used in detailed descriptions and/or claims, these terms are intended to have the same meaning in a manner similar to the term "include".

、

:旋轉角度

、

:旋轉速度

、

:旋轉加速度 Δθ:第一誤差範圍 900:控制方法 905~955:步驟 400a: central control unit 400b: arm axis control device 401b~403b: first to third arm axis control device 500, 600, 800: mechanical arm system 100a, 100b: control device 120a, 120b: first control unit 140a , 140b, 740: rigid mechanical unit 160a, 160b: model mechanical unit 180a, 180b: drive unit 182a: second control unit 184a: drive circuit 190a, 190b: measurement processing unit 200a, 200b: motor device 300a, 300b: arm Axis C1: Motion control command C2: Torque command for each arm axis C3: Motor current command for each arm axis S1, S1a, S1b: End position command S2: Target position signal S3: Drive signal F1: First torque Signal τ1: first torque signal τ2: rigid mechanical torque τ3: second torque signal

,

:Rotation angle

,

:spinning speed

,

: Rotation acceleration Δθ: First error range 900: Control method 905~955: Step

FIG. 1 shows the architecture diagram of the robotic arm system according to an embodiment of the prior art. Figure 2 shows the architecture diagram of the robotic arm system according to an embodiment of the invention. FIG. 3 shows the architecture diagram of the robot arm control unit in the robot arm system according to an embodiment of the present invention. Figure 4 shows the architecture diagram of the robotic arm system according to some other embodiments of the present invention. Figure 5 shows the architecture diagram of the robotic arm system according to some other embodiments of the present invention. Figure 6 is a flow chart of the control method of the robotic arm system according to an embodiment of the present invention.

500: Mechanical arm system

100a, 100b: control device

120a, 120b: the first control unit

140a, 140b: rigid mechanical unit

160a, 160b: model mechanical unit

180a, 180b: drive unit

182a: second control unit

184a: drive circuit

190a, 190b: measurement processing unit

200a, 200b: Motor device

300a, 300b: arm axis

S1a, S1b: End position command

S2: Target position signal

S3: Drive signal

F1: The first torque signal

τ1: The first torque signal

τ2: rigid mechanical torque

τ3: The second torque signal

q ₁ , q ₂ : rotation angle

、

:旋轉速度

,

:spinning speed

、

:旋轉加速度

,

: Rotation acceleration

Claims (20)

A mechanical arm system includes at least two arm shafts, at least two control devices, and at least two motor devices, wherein the control devices respectively control the corresponding motor devices to adjust the positions of the corresponding arm shafts, wherein each One of the control devices includes: a first control unit that receives an end position command to output a first torque signal; a robotic arm control unit that includes a rigid mechanical model and a flexible mechanical model, wherein the robotic arm controls The unit receives the first torque signal to obtain a rigid mechanical torque through the rigid mechanical model, and establishes a mechanical arm model based on the rigid mechanical torque and the flexible mechanical model to obtain a target torque, and according to the target Torque outputs a target position signal; a driving unit generates a driving signal according to the target position signal to adjust a rotation angle of the corresponding motor device; and a measurement processing unit for measuring the corresponding motor The rotation angle, a rotation speed and a rotation acceleration of the device; wherein the robotic arm control unit of one of the at least two control devices receives the rotation angle and rotation of the motor devices corresponding to the other of the at least two control devices Speed and rotational acceleration to adjust the rigid mechanical model to change the rigid mechanical torque. The robot arm system described in the first item of the scope of patent application, wherein the robot arm control unit adjusts the robot arm according to the changed rigid mechanical torque The arm model is used to change the target torque and output a first feedback signal to the first control unit; when the first control unit determines that the end position command and one of the first feedback signal does not fall into a first When there is an error range, the first control unit adjusts the first torque signal. The robot arm system described in the first item of the scope of patent application, wherein the robot arm control unit runs a rigid mechanical equation to calculate and add the corresponding power parameters of the motor device and obtain one of the power parameters A sum, wherein the robot arm control unit uses the sum as the rigid mechanical torque. The robotic arm system described in item 3 of the scope of patent application, wherein the robotic arm control unit receives the rotation angle of the motor device corresponding to one of the at least two control devices, and the other one of the at least two control devices corresponds to The rotation angle of the motor devices is obtained by running the rigid mechanical equation to obtain a first inertial force of one of the plurality of power parameters. The robotic arm system described in claim 4, wherein the robotic arm control unit receives the rotation angle of the motor device corresponding to one of the at least two control devices, and the other one of the at least two control devices corresponds to The rotation angle and the rotation acceleration of the motor devices are operated to obtain a second inertial force of one of the plurality of power parameters by running the rigid mechanical equation. The robotic arm system described in item 5 of the scope of patent application, wherein the robotic arm control unit receives the rotation angle of the motor device corresponding to one of the at least two control devices, and the other one of the at least two control devices corresponds to The rotation angle of the motor devices of the, and obtain the rotation angle by running the rigid mechanical equation Gravity, one of multiple dynamic parameters. For the robotic arm system described in item 3 of the scope of patent application, the robotic arm control unit receives the rotation angle of the motor device corresponding to one of the at least two control devices, and obtains the rigid mechanical equation by running the rigid mechanical equation The first inertial force is one of the multiple dynamic parameters. The robotic arm system described in claim 7, wherein the robotic arm control unit receives the rotation angle of the motor device corresponding to one of the at least two control devices, and the other one of the at least two control devices corresponds to The rotation angle and the rotation acceleration of the motor devices are operated to obtain a second inertial force of one of the plurality of power parameters by running the rigid mechanical equation. For the robotic arm system described in claim 8, wherein the robotic arm control unit receives the rotation angle of the motor device corresponding to one of the at least two control devices, and obtains the rigid mechanical equation by running Gravity, one of multiple dynamic parameters. The robotic arm system described in claim 3, wherein the robotic arm control unit receives the rotation angle, the rotation speed, and the at least two control devices of the motor device corresponding to one of the at least two control devices Coriolis force (or centripetal force) of one of the plurality of power parameters is obtained by running the rigid mechanical equation corresponding to the rotation angle and the rotation speed of the motor devices. For the robotic arm system described in item 3 of the scope of patent application, the robotic arm control unit receives the corresponding one of the at least two control devices The rotation speed of the motor device is used to obtain a dynamic friction force of one of the plurality of power parameters by running the rigid mechanical equation. For the robot arm system described in claim 2, wherein the driving unit includes a second control unit and a driving circuit, and the second control unit is coupled to the rigid mechanical torque and the target position signal to output a The second torque signal is provided to the driving circuit to output the driving signal. For the robotic arm system described in item 12 of the scope of patent application, when the second control unit determines that the target position signal and one of the rotation angles of the motor device do not fall within a second error range, the second control The unit adjusts the second torque signal. A robotic arm system includes an arm shaft, a motor device coupled to the arm shaft, and a control device coupled to the motor device, wherein the control device includes: a first control unit that receives an end position command signal To output a first torque signal; a robot arm control unit, including a rigid machine model and a flexible machine model, wherein the robot arm control unit receives the first torque signal to obtain a rigid machine through the rigid machine model Torque, and establish a robot arm model based on the rigid mechanical torque and the flexible mechanical model to obtain a target torque, and output a target position signal according to the target torque; a drive unit generates a target position signal according to the target torque A driving signal to adjust a rotation angle of the motor device; and A measurement processing unit for measuring the motor device to output motion parameters of the motor device, wherein the motion parameters include the rotation angle, a rotation speed, and a rotation acceleration; wherein the robot arm control unit receives the motor device The motion parameter is used to adjust the rigid mechanical model to change the rigid mechanical torque. For example, the robot arm system described in claim 14, wherein the robot arm control unit adjusts the robot arm model according to the changed rigid mechanical torque to change the target torque, and outputs a first feedback signal to The first control unit; when the first control unit determines that the end position command and the first feedback signal does not fall within a first error range, the first control unit adjusts the first torque signal. For example, the robot arm system described in claim 14, wherein the robot arm control unit runs a rigid mechanical equation to calculate and add a plurality of dynamic parameters of the arm axis and obtain a sum of one of the plurality of dynamic parameters, wherein the The robot arm control unit uses the sum as the rigid mechanical torque. In the robotic arm system described in claim 16, wherein the robotic arm control unit receives the rotation angle of the motor device, and obtains an inertial force of one of the plurality of power parameters by running the rigid mechanical equation. For the robotic arm system described in claim 17, wherein the robotic arm control unit receives the rotation angle of the motor device, and obtains gravity, one of the plurality of power parameters, by running the rigid mechanical equation; the robotic arm The control unit receives the rotation angle and the rotation of the motor device And obtain a Coriolis force by running the rigid mechanical equation; and the robot arm control unit receives the rotation speed of the motor device, and obtains a dynamic friction force of one of the plurality of power parameters by running the rigid mechanical equation. A robot arm control method is executed by a robot arm system, wherein the robot arm system includes at least two arm shafts, at least two control devices, and at least two motor devices, wherein the control devices respectively control the corresponding motor devices Adjusting the positions of the corresponding arm shafts respectively, wherein each of the control devices executes the robotic arm control method including: receiving an end position command signal to output a first torque signal; receiving the first torque signal and Run a rigid mechanical model to obtain a rigid mechanical torque; establish a mechanical arm model based on the rigid mechanical torque and a flexible mechanical model to obtain a target torque; output a target position signal according to the target torque; The target position signal generates a driving signal to adjust a corresponding rotation angle of the motor device; and measures the rotation angle, a rotation speed, and a rotation acceleration of the corresponding motor device; wherein one of the at least two control devices Receiving the rotation angle, rotation speed and rotation acceleration of the motor devices corresponding to the other of the at least two control devices to adjust the rigid mechanical model of one of the at least two control devices to change the rigid mechanical torque. For example, the robot arm control method described in item 19 of the scope of patent application further includes: adjusting the robot arm model according to the changed rigid mechanical torque to change the target torque to output a first feedback signal; When the difference between the end position command and the first feedback signal does not fall within a first error range, the first torque signal is adjusted.

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