The invention relates to the technical field of
robot control, in particular to a force sense control method fusing
robot visual information, and solves the technical problems of operator intention
distortion and man-
machine control right conflict. The method comprises the following steps: identifying an
interaction object through scene semantic segmentation, and establishing a virtual force model to generate a predictive guide
data stream; receiving an operating force of an operator through a
force sensor, executing online dynamic compensation to obtain a pure intention force, and analyzing the pure intention force by applying an
algorithm to obtain an
operating instruction vector; applying a dynamic projection fusion
algorithm, taking the modulus length of the guide
data stream as a dynamic weight, performing non-conflict fusion on the guide
data stream and the manipulation instruction vector, and calculating a shared motion track; and finally, outputting a trajectory tracking
signal by adopting a
position tracking controller, and providing force sense guidance for an operator through the
active movement of the
robot. According to the invention, efficient, safe and smooth man-
machine cooperative control is realized.