The invention discloses a
robot fine operation
control system based on a
diffusion model and 3D vision, particularly relates to the technical field of
industrial robot fine operation control, and aims to solve the problem that when an existing
industrial robot executes fine operations such as
bottle cap screwing and connector plugging in and out in a complex three-dimensional operation scene, the operation efficiency is high. The problems that three-dimensional
perception is unstable, the action resolution is fixed, space and contact constraints are difficult to meet, and the task success rate and safety are insufficient are solved. The method comprises the following steps: constructing a
voxel feature field updated along with time under a self-body coordinate
system, generating interaction complexity and a physical constraint
field based on task coding, and linking
adaptive resolution and action
granularity scheduling,
diffusion trajectory generation and closed-loop execution correction to uniformly map environmental geometry, contact conditions and task stages into
tail end
trajectory control, so as to realize real-time tracking control. Therefore, fine operations such as
bottle cap screwing, connector inserting and pulling and flexible object folding can still be stably completed under complex shielding and contact constraint, and the effects of safety and task success rate are both considered.