公开(公告)号：US11613011B2

公开(公告)日：2023-03-28

申请号：US16927247

申请日：2020-07-13

Applicant: Delta Electronics, Inc.

Inventor： Ching-Hsiung Tsai ,  Ming-Yang Cheng ,  Chung-Chan Hsu ,  Chia-Hui Chen ,  Hao-Lun Huang ,  Kuan-Shun Chao

IPC: H02P7/00 ,  B25J9/16 ,  G05B19/23

Abstract: A mechanical arm system includes at least two links, 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 mechanical model unit. The rigid mechanical unit receives the first torque signal to obtain a rigid mechanical torque, and the mechanical model 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.