Robotic arm control method, robotic arm and computer-readable storage medium

A robotic arm comprising:

• one or more processors;
• a sensor and an end effector that are mounted at an end of the robotic arm, the sensor electrically coupled to the one or more processors;
• a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
• obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in n different poses, n≥3;
• determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses;
• calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the n rotation transformation matrices;
• and
• controlling the robotic arm based on the coordinates of the center of mass and the mass;
• wherein determining the n rotation transformation matrices from the base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in the n different poses comprises:
• controlling the robotic arm to randomly change n times within a range of motion, and controlling the robotic arm to be in a current pose for a preset time after each change;
• and
• when the robotic arm is in a j-th pose:
• obtaining a joint angle of each link of the robotic arm;
• determining an adjacent transformation matrix between each two adjacent link coordinate systems based on the joint angles of the links of the robotic arm and preset twist degrees of the links of the robotic arm;
• and
• determining a j-th rotation transformation matrix corresponding to the j-th pose based on the adjacent transformation matrices;
• wherein j is less than or equal to n.

A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a robotic arm that comprises an end effector and a sensor that are mounted at an end of the robotic arm, cause the at least one processor to perform a method, the method comprising:

• obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in n different poses, n≤3;
• determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses;
• calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the n rotation transformation matrices;
• and
• controlling the robotic arm based on the coordinates of the center of mass and the mass;
• wherein obtaining the n gravity matrix data comprises:
• controlling the robotic arm to randomly change n times within a range of motion, and controlling the robotic arm to be in a current pose for a preset time after each change;
• and
• obtaining a j-th gravity matrix data of the end effector in the end coordinate system using the sensor when the robotic arm is in a j-th pose, where j≤n.