The invention belongs to the technical field related to
robot visual control, and discloses a method and
system for cooperatively controlling a mechanical arm to move based on visual
servo and force sense
admittance. The method comprises the steps that a mechanical arm moves to an
assembly target position, and an image collection device collects an image of a target point at the
assembly target position as an expected image; the
tail end of the mechanical arm clamps the to-be-assembled workpiece to move to an
assembly target position, an image collection device collects an image of a target point in real time in the moving process of the
tail end of the mechanical arm, and the image collected in real time is compared with an expected image so as to calculate the movement speed vc of the
tail end of the mechanical arm; when the to-be-assembled workpiece is in contact with the pin at the assembly target position, the
force sensor measures the force and the torque during contact, and the movement speed vf of the tail end of the mechanical arm is calculated through the force and the torque; and calculating the movement speed of the tail end of the mechanical arm at the next moment by utilizing the movement speeds vc and vf of the mechanical arm. According to the invention, the problem that
visual control and force control cannot be cooperatively controlled in the prior art is solved.