A robot arm transfer control method

Abstract

The present application relates to a kind of mechanical arm transfer control method, belong to automation equipment control technical field.The mechanical arm transfer control method when controlling mechanical arm carries out the clamping or release of plate operation, first adaptive adaptation clamping or release parameter range, subsequently real-time monitoring, by the dual judgment of stroke and torque, so that the reliability of clamping or release operation is guaranteed, one of the two conditions is not satisfied, then trigger clamping or release operation exception, so it can automatically identify whether target object is real or real released, avoid the misjudgment of laboratory operation, realize the effectiveness of unmanned, automated judgment clamping or release object existence or not.By the dual judgment of stroke and torque, so that the stability of clamping or release is improved, avoid the deviation of clamping or release and lead to the transfer accident of object.

Description

Technical Field

[0001] This invention relates to the field of automated equipment control technology, and in particular to a robotic arm transfer control method. Background Technology

[0002] With the rapid development of bioscience and technology, workstations such as sample library preparation instruments for biological gene detection have become a crucial part of improving gene sequencing efficiency. In routine gene detection procedures, sample library preparation involves many repetitive actions such as pipetting and plate transfer (reaction plates, etc.). Therefore, to further reduce the workload of laboratory personnel and minimize the risk of cross-contamination during plate transfer, the demand for automated plate transfer robotic arms is increasing.

[0003] However, conventional robotic arm control systems have some defects, such as the tendency to misjudge whether the target plate has been gripped during use, and the target is prone to falling off when transferring the target. The instability of gripping causes problems such as laboratory contamination and laboratory accidents. Summary of the Invention

[0004] Therefore, it is necessary to provide a robotic arm transfer control method to address the problems of misjudgment and poor stability during the aforementioned rotating plate clamping, which can improve the control accuracy and stability of the automated robotic arm gripper, making its workflow more stable and reliable.

[0005] A robotic arm transfer control method includes a gripping step and a releasing step.

[0006] The clamping step includes:

[0007] S1': Adaptive clamping parameters and real-time monitoring of clamping torque feedback information;

[0008] S2': Activate the gripper of the robotic arm to perform a clamping operation;

[0009] S3': Obtain clamping stroke information and clamping torque feedback information, and compare them with the preset allowable deviation range of clamping stroke and allowable deviation range of clamping torque. If both the clamping stroke information and clamping torque feedback information are within the allowable deviation range, continue the clamping operation. If either the clamping stroke information or the clamping torque feedback information is outside the allowable deviation range, enter the exception handling procedure.

[0010] The release step includes:

[0011] S1”: Adaptive release parameters and real-time monitoring of release torque feedback information;

[0012] S2”: Activate the gripper of the robotic arm to perform a release operation;

[0013] S3”: Obtain release stroke information and release torque feedback information, and compare them with the preset allowable deviation range of release stroke and allowable deviation range of release torque. If both the release stroke information and release torque feedback information are within the allowable deviation range, the release operation continues. If either the release stroke information or the release torque feedback information is outside the allowable deviation range, the exception handling procedure is entered.

[0014] The aforementioned robotic arm transfer control method, when controlling the robotic arm to perform clamping or releasing operations on a rotating plate, first adaptively adapts to the clamping or releasing parameter range, then monitors in real time. Through dual judgment of stroke and torque, the reliability of the clamping or releasing operation is ensured. If either the stroke or torque judgment condition is not met, an abnormality in the clamping or releasing operation is triggered. This allows for automatic identification of whether the target object actually exists or has actually been released, avoiding misjudgments in laboratory operations and achieving the effectiveness of unattended, automated judgment of the presence or absence of the clamped or released object. In other words, by using dual judgment of stroke and torque, the stability of clamping or releasing is improved, avoiding transfer accidents caused by deviations in clamping or releasing.

[0015] Furthermore, the aforementioned stroke determination method provides real-time feedback on whether the current stroke falls within the effective stroke area during the gripping or releasing process of the motor-driven robotic arm gripper. This allows the robotic arm gripper to perform transfer control according to different target plate sizes, preventing gripping failure due to a target plate being too small, and preventing deformation of the target plate during gripping due to a target plate being too large.

[0016] The above torque judgment method is used to provide real-time feedback on whether the current torque falls within the effective torque range during the gripping or releasing process of the motor-driven robotic arm gripper. This can be used to determine whether the target plate has been correctly gripped or released.

[0017] In summary, relying solely on stroke determination may fail to determine whether the target plate has been clamped or released successfully due to the type of target plate or differences between batches. Conversely, relying solely on torque determination may fail to determine whether the target plate has been properly clamped or released due to interference from obstacles during the movement of the mechanical gripper.

[0018] This invention solves the above problems by using a complementary dual-judgment system of stroke and torque, ensuring that the robotic arm gripper both reaches the target stroke (judged by stroke) and is simultaneously clamped or released correctly (judged by torque). It is understood that the aforementioned clamping and releasing strokes refer to actual, effective distances of movement.

[0019] In one embodiment, in the clamping step S3', it is determined whether the target object is in contact based on the closed-loop real-time feedback information of the clamping torque, and an allowable deviation range is set based on the torque feedback information range that ensures the target object is in contact and intact. The current stroke position of the robotic arm gripper is determined based on the release stroke information of the closed-loop real-time feedback.

[0020] In the release step S3”, the clamping tightness of the target object is determined based on the closed-loop real-time feedback information of the release torque, and an allowable deviation range is set based on the torque feedback information range for releasing the target object. The current stroke position of the robotic arm gripper is determined based on the release stroke information of the closed-loop real-time feedback.

[0021] In one embodiment, the turntable control method is implemented using a servo closed-loop feedback control system. If a servo motor is used as the drive output of the control system, the servo closed-loop feedback control system can receive feedback in real time, achieving stable and precise control.

[0022] In one embodiment, the clamping torque feedback information is processed by the following first-order continuous smoothing filter: the obtained instantaneous current value point is averaged with the nearest several instantaneous current values ​​in the preceding order, and the resulting first-order current average value is used as the clamping torque feedback information value of the instantaneous value point.

[0023] The release torque feedback information is processed by the following first-order continuous smoothing filter: the obtained instantaneous current value point is averaged with the nearest several instantaneous current values ​​in the preceding order, and the resulting first-order current average value is used as the release torque feedback information value of that instantaneous value point.

[0024] Understandably, the instantaneous current value obtained directly is the raw current value without algorithm processing. Since the working current is easily affected by environmental interference, such as power supply stability and surrounding magnetic field conditions, and the instantaneous current value fluctuates greatly during the contact between the robotic arm gripper and the target object, a mean curve can be obtained by performing a filtering process on the current value and then passing it through a continuous smoothing filtering algorithm. The mean curve significantly improves the current's anti-interference ability. By obtaining the closed-loop feedback of the current, the torque judgment becomes more accurate and effective, and the reliability of the torque judgment is enhanced.

[0025] Furthermore, by using the above processing method, the average value is calculated by selecting the nearest current instantaneous points preceding the obtained current instantaneous point. This will not lead to a delay in the acquisition time and thus a dulling of the judgment, ensuring that the torque judgment maintains both sensitivity and reliability.

[0026] This is understandable, because the stroke is not affected by the environment, and the encoder can accurately record the changes in the stroke. The allowable deviation range of the stroke can be confirmed by conventional algorithms.

[0027] In one embodiment, the clamping torque feedback information and the release torque feedback information are further processed by the following second-order continuous smoothing filter: the obtained instantaneous current value is subjected to a first-order continuous smoothing filter, and then the first-order current mean of that instantaneous value is averaged with the nearest several preceding first-order current means, and the resulting second-order current mean is used as the clamping torque feedback information value for that instantaneous value. This further second-order continuous smoothing filter further improves the reliability of the judgment.

[0028] The above method incorporates continuous processing, incorporating the most recent average value into the calculation and judgment without extending the processing time, and eliminating the interference of sudden current changes. This allows the current value to fit historical values, achieving better results.

[0029] In one embodiment, the preceding most recent current instantaneous points are the preceding 4-6 most recent current instantaneous points, and the preceding most recent first-order current average is the preceding 4-6 most recent first-order current average. Considering practical applications, the period frequency of obtaining one current instantaneous point is usually 1ms, and the maximum time corresponding to 4-6 current instantaneous points is 4-6ms. When the clamping begins and is about to touch the object, the clamping speed is directly proportional to the risk of the object being deformed by the clamping. Usually, when the clamping exceeds the edge of the object by 1-2mm, the object will deform. Taking a relatively fast clamping speed of 50mm / s as an example, 50mm / s is equivalent to 50um / ms. The corresponding 4-6 instantaneous current values ​​are equivalent to a response time of 200um-300um. Taking the extreme value of 300um, there is still a margin of 70% (1mm-300um) relative to the low value of deformation of 1mm. Therefore, 4-6 current values ​​maintain the sensitivity of fast clamping or release response, ensuring clamping while avoiding the risk of deformation of the clamped object due to clamping too tightly.

[0030] In one embodiment, the clamping parameters include: target object clamping stroke, allowable deviation range of clamping stroke, and allowable deviation range of clamping torque;

[0031] The release parameters include: target release stroke, allowable deviation range of release stroke, and allowable deviation range of release torque;

[0032] The clamping and releasing parameters are set according to the length, width, and material deformation under stress of the target object.

[0033] Understandably, differences in the length and width of the target object, as well as variations in the manufacturing materials, can lead to different allowable strokes for the robotic arm gripper during clamping and release. Combined with changes in torque, the length or width of the target object and the allowable deviation range parameters can be entered into the software library before the clamping or release action begins. During the action, the current stroke fed back by the servo system is compared with the parameters corresponding to the selected target object to determine whether the current stroke falls within the target stroke range. Once it falls within the target stroke range and also within the effective torque range, the clamping or release is considered effective, and finally, the drive motor that completed the clamping or release is stopped to avoid problems such as deformation of the target object due to clamping.

[0034] In one embodiment, the robotic arm transfer control method includes the following steps:

[0035] S1: Obtain the origin position information of the robotic arm;

[0036] S2: Obtain the status information of the robotic arm. When the robotic arm is in the state of waiting to be clamped, proceed to the clamping step. When the robotic arm is in the state of waiting to be released, proceed to the release step.

[0037] Understandably, after the device is started, the drive motor that drives the robotic arm gripper is initialized to ensure the initial position of the motion mechanism, which is defined as the origin position.

[0038] In one embodiment, in S1, the origin position is determined by the position information from the robotic arm's trigger position sensing device. Having a photoelectric switch or similar device at the initial position for position detection offers advantages in terms of convenience and reliability.

[0039] In one embodiment, in S2, when the robotic arm is holding an empty object, the holding state is the waiting-to-hold state; when the robotic arm is holding an object, the holding state is the waiting-to-release state.

[0040] The clamping operation involves controlling the gripper of the robotic arm to move relative to the target object and clamping it. The releasing operation involves controlling the gripper of the robotic arm to move away from each other and releasing the target object.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] This invention provides a robotic arm transfer control method that solves the problem of the single control method in conventional robotic arms. By using dual judgment of stroke and torque, the reliability of gripping or releasing operations is ensured. If either condition is not met, an abnormal gripping or releasing operation is triggered. This automatically identifies whether the target object actually exists or has actually been released, avoiding misjudgments in laboratory operations and achieving the effectiveness of unattended, automated judgment of the presence or absence of gripped or released objects. The dual judgment of stroke and torque also improves the stability of gripping or releasing, preventing transfer accidents caused by deviations in gripping or releasing.

[0043] Furthermore, this invention also solves the problem of balancing the accuracy and stability of the robotic arm gripper by processing the sensitive torque parameters through a continuous smoothing algorithm. Attached Figure Description

[0044] Figure 1 The control process for the gripping and releasing of the robotic arm.

[0045] Figure 2 This is a schematic diagram of the time-series waveform analysis comparing the instantaneous current value with the first-order average current value. Detailed Implementation

[0046] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] Example

[0049] A robotic arm transfer control method is disclosed in this embodiment, implemented using the device disclosed in patent application CN 202320601240.1, and employing a servo closed-loop feedback control system. It is understood that the control method of this invention is also applicable to other devices that require a robotic arm to grasp experimental apparatus and consumables (such as orifice plates, test tubes, etc.). Such devices only need to have a central control system capable of controlling the robotic arm's gripper (or fingers) to grasp / clamp the target object and move it to a designated position to release / release the target object, while also receiving feedback information on the gripper's travel distance and the torque applied to the gripper.

[0050] This embodiment utilizes a servo closed-loop feedback control system, which can receive feedback in real time to achieve stable and precise control. Specifically, it includes the following steps:

[0051] S1: Obtain the origin position information of the robotic arm.

[0052] Specifically, after the equipment is started, the drive motor of the robotic arm gripper is initialized. A photoelectric switch (position sensing device) is set at the initial position to detect the position, so as to ensure the initial position of the motion mechanism. This initial position is defined as the origin position.

[0053] S2: Obtain the robotic arm's status information. If the robotic arm is in a gripping state, proceed to the gripping step; if the robotic arm is in a releasing state, proceed to the releasing step. The operation flow is as follows: Figure 1 As shown.

[0054] In this embodiment, when the robotic arm has no object information, the clamping state is a waiting clamping state, and the clamping step is initiated; when the robotic arm has an object information, the clamping state is a waiting release state, and the release step is initiated.

[0055] The specific gripping operation involves controlling the gripper of the robotic arm to move relative to the target object, and the release operation involves controlling the gripper of the robotic arm to move away from each other to release the target object.

[0056] The clamping step includes:

[0057] S1': Adaptive clamping parameters and real-time monitoring of clamping torque feedback information.

[0058] The clamping parameters include: the target object clamping stroke, the allowable deviation range of the clamping stroke, and the allowable deviation range of the clamping torque.

[0059] The aforementioned clamping parameters are set based on the length, width, and material deformation under stress of the target object. It is understandable that differences in the length and width of the target object, as well as variations in the manufacturing materials, can lead to different allowable strokes for the robotic arm gripper during clamping. Combined with torque variations, the length or width of the target object and the allowable deviation range parameters can be entered into the software library before the clamping action begins. During execution, the current stroke fed back by the servo system is compared with the parameters corresponding to the selected target object to determine if the current stroke falls within the target stroke range. Once it falls within both the target stroke range and the effective torque range, the clamping is considered effective, and the drive motor that completed the clamping is stopped, preventing issues such as deformation of the target object during clamping.

[0060] S2': Activate the gripper of the robotic arm to perform a clamping operation, that is, control the relative movement of the gripper of the robotic arm to clamp the target object.

[0061] S3': Obtain clamping stroke information and clamping torque feedback information, and compare them with the preset allowable deviation ranges of clamping stroke and clamping torque. If both the clamping stroke information and clamping torque feedback information are within the allowable deviation range, the clamping operation continues. If either the clamping stroke information or the clamping torque feedback information is outside the allowable deviation range, the abnormal handling procedure is entered, such as issuing an alarm and stopping subsequent operations of the equipment. It is understood that this abnormal handling procedure can be designed and adjusted according to the actual working conditions.

[0062] Specifically, the system determines whether the gripper has contacted (touched) the target object based on the closed-loop real-time feedback information of the clamping torque. The allowable deviation range is set based on the torque feedback information range that ensures the target object is intact. The system also determines the current stroke position of the robotic arm gripper based on the release stroke information from the closed-loop real-time feedback.

[0063] During this process, real-time feedback ensures that the current travel distance falls within the effective travel range. This allows the robotic arm gripper to adjust its movement according to different target plate sizes, preventing gripping failure due to an excessively small target plate or deformation of the target plate during gripping due to an excessively large target plate. Real-time feedback also ensures that the current torque falls within the effective torque range; if it does, it can determine whether the target plate has been gripped.

[0064] This embodiment employs a multi-threaded control method to ensure that the torque and stroke determinations are executed in parallel on different threads, thus achieving simultaneous determination. Therefore, either torque or stroke can be determined flexibly first, without any time order limitation.

[0065] In this embodiment, the clamping torque feedback information is processed by the following first-order continuous smoothing filter: the obtained instantaneous current value point is averaged with the five most recent instantaneous current values ​​in the preceding order, and the resulting first-order current average value is used as the clamping torque feedback information value of that instantaneous value point.

[0066] Meanwhile, the clamping torque feedback information is also processed by the following second-order continuous smoothing filter: the obtained instantaneous current point is processed by first-order continuous smoothing filter, and then the first-order current mean of the instantaneous point is averaged with the five most recent first-order current mean values, and the resulting second-order current mean is used as the clamping torque feedback information value of the instantaneous point.

[0067] The following is an example illustration.

[0068] Because the instantaneous current value obtained by the servo closed-loop feedback control system is the raw current value without algorithm processing, on the one hand, the operating current is easily affected by environmental factors such as power supply stability and surrounding magnetic field conditions. On the other hand, when the robotic arm gripper comes into contact with the target object, the instantaneous current value fluctuates greatly, which may affect the stability of the control.

[0069] Therefore, this embodiment performs continuous smoothing filtering on the instantaneous current value, as shown in the table below. Figure 2 As shown, after continuous smoothing filtering, a mean curve is obtained. The mean curve significantly improves the anti-interference ability of the current. By obtaining the closed-loop feedback of the current, the torque judgment becomes more accurate and effective.

[0070] Table 1. Examples of continuous smoothing filtering algorithms

[0071] instantaneous current 101 102 103 104 105 106 107 108 109 First-order current mean / / / / 102 102 102.2 103.8 102.8 Second-order current mean / / / / / / / / 102.56

[0072] The aforementioned continuous smoothing filtering algorithm refers to continuously averaging the instantaneous current values. For example, averaging the five most recent instantaneous current values ​​yields an average current point, as shown in Table 1. Averaging begins from the fifth acquisition point. The peak-to-peak value of the instantaneous value ranges from 101 to 109, with a variation of 8. The peak-to-peak value of the average value ranges from 102 to 103.8, with a variation of 1.8. The time-series waveform analysis comparing the instantaneous current value with the first-order average current using this algorithm is shown below. Figure 2 (Taking 24 sampling points as an example). It is obvious that after smoothing, the current reflection value is more realistic and reliable, ensuring that the torque feedback point is within a controllable range and eliminating interference from abnormal points.

[0073] Taking a 1ms acquisition period as an example, an average value can be continuously acquired in just 1ms. If the same principle is used to perform a smoothing filter on the 5 average points, and the second-order average is processed starting from the 9th acquisition point, a second-order average value can be continuously acquired in just 1ms. This will not lead to a delay in the acquisition time and thus a dulling of the judgment. A new second-order smoothing filter curve is obtained, which makes the torque judgment maintain both sensitivity and reliability.

[0074] The release step includes:

[0075] S1”: Adaptive release parameters and real-time monitoring of release torque feedback information;

[0076] The release parameters include: target release stroke, allowable deviation range of release stroke, and allowable deviation range of release torque;

[0077] S2”: Initiate the release operation of the robotic arm's gripper, that is, control the robotic arm's gripper to move away from each other to release the target object.

[0078] S3”: Obtain release stroke information and release torque feedback information, and compare them with the preset allowable deviation range of release stroke and allowable deviation range of release torque. If both the release stroke information and release torque feedback information are within the allowable deviation range, the release operation continues. If either the release stroke information or the release torque feedback information is outside the allowable deviation range, the exception handling procedure is entered.

[0079] Specifically, the clamping tightness of the target object is determined based on the closed-loop real-time feedback information of the release torque, and the allowable deviation range is set based on the range of torque feedback information for releasing the target object. The current stroke position of the robotic arm gripper is determined based on the release stroke information fed back by the closed-loop real-time feedback.

[0080] In this embodiment, the release torque feedback information is processed by the following first-order continuous smoothing filter: the obtained instantaneous current value point is averaged with the five most recent instantaneous current values ​​in the preceding order, and the resulting first-order current average value is used as the release torque feedback information value of that instantaneous value point.

[0081] Meanwhile, the release torque feedback information is also processed by the following second-order continuous smoothing filter: the obtained instantaneous current point is processed by first-order continuous smoothing filter, and then the first-order current mean of the instantaneous point is averaged with the five most recent first-order current mean values, and the resulting second-order current mean is used as the release torque feedback information value of the instantaneous point.

[0082] Understandably, for other specific operations and data algorithm processing in the release step, please refer to the clamping step.

[0083] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0084] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A robotic arm transfer control method, characterized in that, Includes clamping and releasing steps. The clamping step includes: S1': Adaptive clamping parameters, and real-time monitoring of clamping torque feedback information; the clamping parameters include: target object clamping stroke, allowable deviation range of clamping stroke, and allowable deviation range of clamping torque; S2': Activate the gripper of the robotic arm to perform a clamping operation; S3': Obtain clamping stroke information and clamping torque feedback information, and compare them with the preset allowable deviation range of clamping stroke and allowable deviation range of clamping torque. If both the clamping stroke information and clamping torque feedback information are within the allowable deviation range, the clamping operation continues. If either the clamping stroke information or the clamping torque feedback information is outside the allowable deviation range, the exception handling procedure is entered. Determine whether the target object is in contact based on the closed-loop real-time feedback information of the clamping torque. Set the allowable deviation range based on the torque feedback information range that ensures contact with the target object and its integrity. Determine the current stroke position of the robotic arm gripper based on the release stroke information of the closed-loop real-time feedback. The release step includes: S1'': Adaptive release parameters, and real-time monitoring of release torque feedback information; the release parameters include: target release stroke, allowable deviation range of release stroke, and allowable deviation range of release torque; S2'': Initiate the release operation by activating the gripper of the robotic arm; S3'': Obtain release stroke information and release torque feedback information, and compare them with the preset allowable deviation range of release stroke and allowable deviation range of release torque. If both the release stroke information and release torque feedback information are within the allowable deviation range, continue the release operation. If either the release stroke information or the release torque feedback information is outside the allowable deviation range, enter the exception handling procedure. Determine the clamping tightness of the target object based on the closed-loop real-time feedback information of the release torque, set the allowable deviation range based on the torque feedback information range of releasing the target object, and determine the current stroke position of the robotic arm gripper based on the closed-loop real-time feedback release stroke information. The clamping and releasing parameters are set according to the length, width, and material deformation under stress of the target object; The robotic arm transfer control method is implemented with a servo closed-loop feedback control system. The clamping torque feedback information is processed by the following first-order continuous smoothing filter: the obtained instantaneous current value point is averaged with the nearest several instantaneous current values ​​in the preceding order, and the resulting first-order current average value is used as the clamping torque feedback information value of the instantaneous value point. The release torque feedback information is processed by the following first-order continuous smoothing filter: the obtained instantaneous current value point is averaged with the nearest several instantaneous current values ​​in the preceding order, and the resulting first-order current average value is used as the release torque feedback information value of that instantaneous value point. The clamping torque feedback information and the release torque feedback information are further processed by the following second-order continuous smoothing filter: the obtained instantaneous current value is processed by first-order continuous smoothing filter, and then the first-order current mean value of the instantaneous value is averaged with the nearest several first-order current mean values ​​before it, and the resulting second-order current mean value is used as the clamping torque feedback information value of the instantaneous value.

2. The robotic arm transfer control method according to claim 1, characterized in that, The preceding most recent current instantaneous points are the preceding 4-6 most recent current instantaneous points, and the preceding most recent first-order current average is the preceding 4-6 most recent first-order current average.

3. The robotic arm transfer control method according to any one of claims 1-2, characterized in that, Includes the following steps: S1: Obtain the origin position information of the robotic arm; S2: Obtain the status information of the robotic arm. When the robotic arm is in the state of waiting to be clamped, proceed to the clamping step. When the robotic arm is in the state of waiting to be released, proceed to the release step.

4. The robotic arm transfer control method according to claim 3, characterized in that, In S1, the origin position is the position of the robotic arm trigger position sensing device.

5. The robotic arm transfer control method according to claim 1, characterized in that, In S2, when the robotic arm is holding an empty object, the holding state is the waiting-to-hold state; when the robotic arm is holding an object, the holding state is the waiting-to-release state. The clamping operation involves controlling the gripper of the robotic arm to move relative to the target object and clamping it. The releasing operation involves controlling the gripper of the robotic arm to move away from each other and releasing the target object.

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