Robotic arm control method and apparatus, and robotic arm

A manual dragging control system, comprising:

• one or more processors;
• and
• a memory configured to store one or more programs;
• wherein, when executed by the one or more processors, the one or more programs cause the one or more processors to implement a method as follows:
• in a dragging preparation phase:
• selecting one arm body of a robotic arm as a target arm body, and determining a position of the target arm body as a position characteristic value;
• determining, based on forward kinematics of the robotic arm, a relationship between the position characteristic value and positions of a plurality of joints of the robotic arm to obtain a first calculation expression of the position characteristic value;
• and
• selecting one of the plurality of joints of the robotic arm as a target joint, wherein the target joint is a control object in a dragging phase, and after the dragging preparation phase is completed, the dragging phase is entered;
• and
• in the dragging phase:
• determining a target value of the position characteristic value;
• acquiring positions of the plurality of joints except the target joint at a current moment;
• and
• substituting the target value of the position characteristic value and the positions of the plurality of joints except the target joint into the first calculation expression to solve for a next position of the target joint when the robotic arm is dragged from a current position;
• wherein a number of joints of the robotic arm is greater than or equal to 4 when the robotic arm moves in a three-dimensional space, and
• wherein a number of joints of the robotic arm is greater than or equal to 3 when the robotic arm moves in a plane.

A robotic arm, comprising:

• a plurality of arm bodies,
• a plurality of joints, and
• a manual dragging control system comprising:
• one or more processors;
• and
• a memory configured to store one or more programs;
• wherein when executed by the one or more processors, the one or more programs cause the one or more processors to implement a method as follows:
• in a dragging preparation phase:
• selecting one arm body of the robotic arm as a target arm body, and determining a position of the target arm body as a position characteristic value;
• determining based on forward kinematics of the robotic arm, a relationship between the position characteristic value and positions of the plurality of joints of the robotic arm to obtain a first calculation expression of the position characteristic value;
• and
• selecting one of the plurality of joints of the robotic arm as a target joint, wherein the target joint is a control object in a dragging phase, and after the dragging preparation phase is completed, the dragging phase is entered;
• and
• in the dragging phase:
• determining a target value of the position characteristic value;
• acquiring positions of the plurality of joints except the target joint at a current moment;
• and
• substituting the target value of the position characteristic value and the positions of the plurality of joints except the target joint into the first calculation expression to solve for a next position of the target joint when the robotic arm is dragged from a current position;
• wherein a number of joints of the robotic arm is greater than or equal to 4 when the robotic arm moves in a three-dimensional space;
• and a number of joints of the robotic arm is greater than or equal to 3 when the robotic arm moves in a plane.