Method for restraining vibration of robot arm through external object

The invention discloses a method for controlling a robot arm and a robot controller, the robot arm comprising a plurality of robot joints connecting a robot base and a robot tool flange, wherein each of the robotic joints includes an output flange movable relative to the robotic joint body and a joint motor configured to move the output flange relative to the robotic joint body. A robotic arm is controlled based on a vibration characteristic of at least one external object connected to the robotic arm, where the vibration characteristic is received via an external object mounting interface by generating a control signal for the robotic arm based on a target motion and the received vibration characteristic of the at least one external object, the control signal includes a control parameter of the joint motor. 本发明公开了用于控制机器人臂的方法和机器人控制器，其中该机器人臂包括连接机器人基座和机器人工具凸缘的多个机器人关节，其中机器人关节中的每个机器人关节包括能够相对于机器人关节主体移动的输出凸缘和被配置成相对于机器人关节主体移动输出凸缘的关节马达。机器人臂基于连接到机器人臂的至少一个外部物体的振动特性来控制，其中经由外部物体安装界面通过基于目标运动和接收到的至少一个外部物体的振动特性为所述机器人臂生成控制信号