Robotic arm control system and method

A robotic arm control system applied in a computing apparatus, comprising:

• an original coordinate production module picking any three points A, B, and C of an object to be determined, and creating an original coordinate system with the point A as the origin;
• a control module directing a terminal mechanism of a robotic arm to rotate about the x-axis of the original coordinate system by a first angle such that a center of the terminal mechanism reaches the point B, and directing the terminal mechanism to rotate about the x-axis by a second angle such that the center of the terminal mechanism reaches the point C;
• an operation coordinate system module, wherein during the rotation of the terminal mechanism, the operation coordinate system module keeps a central axis of the flange face of the robotic arm to be perpendicular to the object, and records the three points A, B, and C respectively as points A′, B′, and C′ of an operation coordinate system of the robotic arm with the point A′ as the origin by a visual process;
• a computing module calculating length ratios of a line A′-B′ of the operation coordinate system to a line A-B of the original coordinate system and a line A′-C′ of the operation coordinate system to a line A-C of the original coordinate system as well as an angular ratio of an angle between the line A′-B′ and the line A′-C′ to an angle between the line A-B and the line A-C, and calculating a differential ratio of the difference of the length ratios to the angle between the line A-B and the line A-C;
• a mapping module calculating a non-linear mapping relation of the original coordinate system and the operation coordinate system according to the length ratio, the angular ratio, and the differential ratio;
• and
• a control module controlling the movement of the robotic arm according to the non-linear mapping relation.