---
publication_id: "OT-2026-000003060"
title: "Robotic arm control method, robotic arm and computer-readable storage medium"
published_at: "2026-09-15T19:17:04.377804Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000003060"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j13/085"
  - "b25j9/1656"
  - "b25j9/1656"
  - "b25j9/1679"
  - "b25j13/08"
  - "b25j13/085"
---

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

## 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.