The application discloses a
robot adaptive variable impedance grasping control method and
system based on visual-tactile fusion flow feature
perception, and the method comprises the following steps: acquiring a real-time
image flow and a force
signal, calculating a target net
optical flow vector according to the real-time
image flow, extracting a high-frequency vibration feature according to the force
signal, and obtaining a
contact force change rate according to the force
signal; performing Kalman filtering state
estimation according to the target net
optical flow vector and the high-frequency vibration feature, obtaining a sliding precursor confidence, and extracting a
divergence feature of the target net
optical flow vector; discriminating a grasping contact state according to the sliding precursor confidence, the
divergence feature and the
contact force change rate; generating a corresponding
impedance control instruction according to the discrimination result, and adjusting the stiffness and the virtual
equilibrium point position of a mechanical arm and a gripper according to the
impedance control instruction. The application solves the problems of
perception lag, lack of protection of fragile objects and stiffness adjustment rigidity in traditional grasping control.