Mechanical arm control device

The utility model discloses a mechanical arm control device. The mechanical arm control device is used for controlling a first mechanical arm and a second mechanical arm rotationally connected with the first mechanical arm and comprises a first rotating joint, an assembling part, a controller, a motor, a harmonic wave decelerator and an encoder, wherein the first rotating joint is arranged at one end of the first mechanical arm; the assembling part is arranged at the other end of the first mechanical arm; the motor is arranged on the assembling part, is electrically connected with the controller and is provided with a driving shaft; the harmonic wave decelerator is arranged on the first rotating joint and is provided with a rotating shaft; the encoder is arranged on the first rotating joint, is electrically connected with the controller and has the same axial line as the rotating shaft; the driving shaft is parallel to the rotating shaft; the motor drives the rotating shaft to rotate through the driving shaft. Accumulated error of the encoder in a transmission process does feedback compensation for the motor, so that the operation accuracy of the mechanical arms is improved.