Method for determining external force applied to robotic arm, robotic arm and storage medium

A robotic arm, comprising:

• a plurality of links connected in sequence;
• a plurality of joints, the links being connected by the joints;
• a plurality of six degrees of freedom (6-DOF) force and torque sensors being mounted on the joints at two ends of at least part of the links, the 6-DOF force and torque sensors being configured to detect forces and torques applied to corresponding joints;
• at least one memory storing computer program instructions;
• and
• at least one processor, wherein when the computer program instructions are executed by the at least one processor, following steps are implemented:
• acquiring inertial property parameters of each link, the inertial property parameters comprising a mass, a center of mass, and a rotational inertia of each link;
• determining motion state parameters of each link, the motion state parameters comprising an angular velocity, an angular acceleration, and a linear acceleration of each link;
• determining an inertial force and an inertial torque at the center of mass of a target link according to the motion state parameters and the inertial property parameters of each link;
• acquiring forces and torques between two ends of the target link and the corresponding joints respectively by the 6-DOF force and torque sensors;
• and
• determining an external force applied to the target link according to the inertial force and the inertial torque at the center of mass of the target link, and the forces and the torques between the two ends of the target link and the corresponding joints.

A non-transitory computer-readable storage medium, on which computer program instruction are stored, wherein when the computer program instructions are executed by at least one processor, following steps are implemented:

• acquiring inertial property parameters of each link, the inertial property parameters comprising a mass, a center of mass, and a rotational inertia of each link;
• determining motion state parameters of each link, the motion state parameters comprising an angular velocity, an angular acceleration, and a linear acceleration of each link;
• determining an inertial force and an inertial torque at the center of mass of a target link according to the motion state parameters and the inertial property parameters of each link;
• acquiring forces and torques between two ends of the target link and the corresponding joints respectively by the 6-DOF force and torque sensors;
• and
• determining an external force applied to the target link according to the inertial force and the inertial torque at the center of mass of the target link, and the forces and the torques between the two ends of the target link and the corresponding joints.