CONTROL CIRCUIT OF MECHANICAL ARM, MECHANICAL ARM, AND ROBOT

The present application relates to the field of safety control of industrial robots, and discloses a control circuit of a mechanical arm, a mechanical arm, and a robot. The mechanical arm comprises a control circuit and a driving mechanism connected to the control circuit. The control circuit and the driving mechanism are arranged at a joint of the mechanical arm. The control circuit comprises: a first detection circuit and a second detection circuit which are connected to the driving mechanism and used for acquiring first motion information of a high-speed end and second motion information of a low-speed end of the driving mechanism; a driving control circuit connected to the first detection circuit and the second detection circuit and used for controlling, on the basis of the first motion information and the second motion information, the driving mechanism to work; and a safety monitoring circuit connected to the driving control circuit and the second detection circuit, and used for performing safety monito