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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12544921-B2, on 10 February 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000003060

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

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Classification
Robotics & Automation › Robot Architectures
Inventors
HUANG LIQUN, REN XIAOYU, XIONG YOUJUN, ZHAO MINGGUO
Assignee
UBTECH ROBOTICS CORP LTD
Original source
US-12544921-B2, the United States Patent and Trademark Office, 10 February 2026
Document SHA-256
e001066d89a37863175d3c008f436f4616ec8a5d3d4d4dfae89f509bffb0d841

Abstract

A method for controlling a robotic arm that includes an end effector and a sensor that are mounted at an end of the robotic arm includes: 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 a 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 a rotation transformation matrices; and controlling the robotic arm based on the coordinates of the center of mass and the mass.

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Citation

OpenTechnical Publication OT-2026-000003060, “Robotic arm control method, robotic arm and computer-readable storage medium,” published September 15, 2026 at 19:17:04 UTC, https://opentechnical.org/p/OT-2026-000003060.

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