Robotic arm space position adjustment method, robotic arm controller and computer readable storage medium

A controller for a robotic arm, comprising:

• a processor;
• a memory coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for obtaining a preset acceleration of an artificial gravitational field, a first vector of the artificial gravitational field in a preset reference coordinate system, a second vector of a feature point of the robotic arm in the preset reference coordinate system, and a third vector of a reference point in the preset reference coordinate system, wherein the direction of the first vector corresponds to a motion trend of the robotic arm, and a movement speed of the robotic arm is positively related to the magnitude of the preset acceleration;
• instructions for calculating a potential energy function of moving the feature point of the robotic arm to the reference point based on the preset acceleration, the first vector, the second vector, and the third vector;
• instructions for calculating a null space virtual moment of each joint of the robotic arm based on the preset null space operator and the potential energy function, wherein the preset null space operator is for keeping a pose of an end of the robotic arm unchanged during motion;
• and
• instructions for adjusting each joint based on the null space virtual moment of the joint.

A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for obtaining a preset acceleration of an artificial gravitational field, a first vector of the artificial gravitational field in a preset reference coordinate system, a second vector of a feature point of the robotic arm in the preset reference coordinate system, and a third vector of a reference point in the preset reference coordinate system, wherein the direction of the first vector corresponds to a motion trend of the robotic arm, and a movement speed of the robotic arm is positively related to the magnitude of the preset acceleration;
• instructions for calculating a potential energy function of moving the feature point of the robotic arm to the reference point based on the preset acceleration, the first vector, the second vector, and the third vector;
• instructions for calculating a null space virtual moment of each joint of the robotic arm based on the preset null space operator and the potential energy function, wherein the preset null space operator is for keeping a pose of an end of the robotic arm unchanged during motion;
• and
• instructions for adjusting each joint based on the null space virtual moment of the joint.