Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.

Abstract: The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.

Abstract: Embodiments of the present disclosure provide a switch assembly for a detection unit of a switchgear or controlgear.

Abstract: Embodiments of the present disclosure disclose a main bus-bar. The main bus-bar consists of a first elongated flat portion and a second elongated flat portion. A longitudinal side of the first elongated flat portion and a longitudinal side of the second elongated flat portion are arranged to be joined with each other at a predetermined angle. The thickness of each of said the first elongated flat portion and the second elongated flat portion is non-uniform. With embodiments of the present disclosure, the skin effect and proximity effect caused by current carried in the main bus-bar can be reduced greatly. Embodiments of the present disclosure also disclose a transfer connector, a bus-bar assembly and a bus-bar system.