The invention provides a six-degree-of-freedom flexible adaptive integrated large-scale connector automatic docking method based on vision and force feedback. According to the method, a parallel structure is used as a design basis, and the difficulty of automatic docking is solved by combining an active compliance thought of taking a
force sensor as feedback and a thought of taking a passive compliance docking mechanism as mechanism passive compliance docking. A set of active and passive compliant control integrated large-scale connector automatic docking
system based on combination of vision and force feedback is designed. As a research focus in the
robotics field, the active compliance control technology can be deployed in numerous accurate docking application scenes depending on force feedback, the active compliance docking strategy is formulated for the design difficulty of the active compliance docking control, and the strategy is simple, fast, low in cost and high in reliability. The anti-interference performance and the reliability of the
control system are greatly improved, the
system is suitable for automatic docking occasions in the industrial
automation field in some complex environments, and contributions are made to further research and expansion of the technology. The high-precision flexible
butt joint technology is applied more and more widely nowadays with the continuous development of science and technology, compared with a traditional
butt joint device, the automatic
butt joint device designed by the invention is higher in
assembly efficiency and precision and higher in intelligent degree, damage to all paths of plug-in devices is smaller, meanwhile, economic losses can be further reduced, and the automatic butt joint device is suitable for popularization and application. And human resource cost is saved.