The application discloses a
robot fine operation
control system based on a
diffusion model and 3D vision, and particularly relates to the technical field of
industrial robot fine operation control, and is used for solving the problem that the existing
industrial robot is unstable in three-dimensional
perception, action resolution is fixed and it is difficult to meet the space and contact constraints when the
industrial robot performs fine operations such as screwing
bottle caps and plugging connectors in a complex three-dimensional work scene, and the success rate and safety of the task are insufficient. By constructing a
voxel feature field updated with time under the self-body coordinate
system, an interactive complexity and physical constraint field is generated based on task coding, and
adaptive resolution and action
granularity scheduling,
diffusion trajectory generation and closed-loop execution correction are linked to map the environment geometry, contact conditions and task stage to the end
trajectory control, so that the fine operations such as screwing
bottle caps, plugging connectors and folding flexible objects can still be stably completed under complex
occlusion and contact constraints, and the safety and task success rate are considered.