{
  "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.",
  "assignees": [
    "UBTECH ROBOTICS CORP LTD"
  ],
  "authors": [
    "HUANG LIQUN",
    "REN XIAOYU",
    "XIONG YOUJUN",
    "ZHAO MINGGUO"
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  "source_date": "2026-02-10",
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  "title": "Robotic arm control method, robotic arm and computer-readable storage medium",
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