OPENTECHNICAL PUBLICATION
OT-2026-000003060

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

Published: 2026-09-15T19:17:04.377804Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003060
Categories: Robotics & Automation > Robot Architectures

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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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OpenTechnical publication OT-2026-000003060
Published 2026-09-15T19:17:04.377804Z
https://opentechnical.org/p/OT-2026-000003060