Mechanical arm accurate stringing method and system based on AI identification and force control perception

Abstract

The invention provides a mechanical arm precise stringing method and system based on AI recognition and force control perception. The method comprises the steps that S1, bamboo sticks are grabbed through a first mechanical arm, and raw materials are grabbed through a second mechanical arm; s2, a first mechanical arm for grabbing the bamboo sticks and a second mechanical arm for grabbing the raw materials are subjected to basic positioning meeting preset requirements; identifying the position information of the bamboo sticks under the basic positioning that a first mechanical arm for grabbing the bamboo sticks and a second mechanical arm for grabbing the raw materials meet preset requirements; wherein the tip spatial position of the bamboo stick and the included angle information between the target bamboo stick and the horizontal line are obtained; s3, on the basis of the identified bamboo stick position information, the alignment stringing point positions of the first mechanical arm and the second mechanical arm are calculated; and S4, aligning the stringing point positions based on the first mechanical arm and the second mechanical arm to implement mechanical arm stringing, and judging whether stringing succeeds or not through force control sensing, so that closed-loop stable stringing is realized.

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