Surgical robot, and control method and control device for robot arm thereof

Abstract

A surgical robot and a control method and device for a robot arm () thereof. The surgical robot includes the robot arm () and the control device, the control device is configured for acquiring an external force applied on a power mechanism (); acquiring an input operating command for task degrees of freedom of the power mechanism (); combining the task degrees of freedom to analyze the external force to obtain target position and/or pose information of the power mechanism () at a base coordinate system, according to the target position and/or pose information, controlling a movement of joints of the robot arm to allow the power mechanism () to move within corresponding degrees of freedom. The operating command includes a completely matched first operating command, and a partially matched second operating command. The power mechanism () of the surgical robot can be precisely freely dragged or constraint control dragged.