462 results about "Contact force" patented technology

The invention provides a shaft hole assembling method and device and electronic equipment, a mechanical arm is controlled to move an assembling shaft to be in contact with the surface of a target workpiece, and the mechanical arm is controlled to search a hole along a planned path by taking a contact point as a starting point. In the searching process, the actual contact force, detected by the sensor, between the assembly shaft and the target workpiece is obtained, a force error is obtained according to the actual contact force and the target contact force, and the displacement increment is calculated according to the force error. And the mechanical arm is controlled to move the assembly shaft according to the displacement increment, so that the assembly shaft and the surface of the target workpiece keep constant force. According to the scheme, the displacement increment is obtained based on the real-time force feedback of the sensor, so that vibration and impact in the assembly process can be reduced, and the problem of assembly failure caused by too large or too small force is avoided.

The invention provides a zipper simulation method and related equipment, a zipper comprises a tooth chain and a puller, the method comprises the following steps: obtaining dynamic performance parameters of the puller pulling the tooth chain, and generating a simulation pulling process corresponding to the pulling process according to the dynamic performance parameters; obtaining simulation penetration depths and initial penalty coefficients between simulation structure contact surfaces of the simulation zipper corresponding to the simulation pulling process and the pulling process; updating the initial penalty coefficient according to the depth change of the simulation penetration depth; according to the simulation penetration depth and the updated initial penalty coefficient, obtaining the normal force of the contact surface of each simulated structure; according to the friction coefficient and the relative sliding speed, obtaining a dynamic friction coefficient between the contact surfaces of the simulated structures; according to the normal force and the dynamic friction coefficient, the zipper light sliding force in the simulation pulling process is obtained, and the detection accuracy and calculation efficiency of the normal force (the component of the contact force) of the microscopic contact behavior between the puller and the toothed chain and the zipper light sliding force can be improved.

The invention discloses a workpiece table of a proximity contact type exposure machine. A horizontal driving device has a degree of freedom of movement along an X-axis direction and a Y-axis direction; the rotating table has the freedom degree of rotating around the central axis of the rotating table. The lifting table is arranged above the rotating table and has the degree of freedom of moving in the Z-axis direction; the Z-axis voice coil motor is arranged between the rotating table and the lifting table and used for driving the lifting table to move in the Z-axis direction. The ball bowl leveling assembly is arranged between the wafer carrying table and the lifting table and comprises a ball bowl seat with a bowl-shaped cavity and a ball head matched with the bowl-shaped cavity; a concave cavity is formed in the bottom of the bowl-shaped cavity; the spherical surface of the ball head is in sliding sealing fit with the spherical inner wall surface of the bowl-shaped cavity and seals the concave cavity; the mask frame is arranged above the wafer carrying table. According to the invention, the relative position and posture between the mask plate and the wafer can be adjusted, the accurate control of the leveling process is realized, the high-precision movement of four degrees of freedom of X / Y / Z / RZ is effectively realized, the accurate control of the leveling contact force is realized, and the practicability is high.

The invention discloses a constant force control method and system for a multi-joint flexible mechanical arm, and belongs to the technical field of robots. The method specifically comprises the steps that through a force sensor installed at the tail end of the flexible mechanical arm, the difference value of contact force between the tail end of the flexible mechanical arm and the environment and expected force serves as a force error, and the difference value of the change rates of the contact force and the expected force serves as the force error change rate; calculating a damping coefficient and a corresponding stiffness coefficient variable quantity; an impedance control model is constructed and solved, and an expected trajectory of the flexible mechanical arm is obtained; obtaining a track deviation and a speed deviation; a fast terminal sliding mode controller is constructed, and a control law is solved in combination with an extended state observer; and carrying out driving control on the flexible mechanical arm by utilizing the obtained control law to realize constant force control on the tail end of the flexible mechanical arm. According to the invention, the response speed of the system and the stability of the transition process are ensured, the problem of impedance coefficient selection is solved, automatic adjustment can be carried out according to real-time information, and the control precision, the response speed and the anti-interference capability are improved.

Systems and methods for online augmentation for learned grasping are provided. In one embodiment, a method is provided that includes identifying an action from a discrete action space. The method includes identifying a second set of grasps of the agent utilizing a transition model based on the action and at least one contact parameter. The at least one contact parameter defines allowed states of contact for the agent. The method includes applying a reward function to evaluate each grasp of the second set of grasps based on a set of contact forces within a friction cone that minimizes a difference between an actual net wrench on the object and a predetermined net wrench. The reward function is optimized online using a lookahead tree. The method includes selecting a next grasp from the second set. The method includes causing the agent to execute the next grasp.

The invention relates to the technical field of nano-probe detection, and particularly discloses a nano-probe test system for feeding back contact force in real time, comprising the following modules: a probe execution module comprising a nano-probe and a piezoelectric ceramic driver, the nano-probe realizing three-dimensional micro-displacement and establishing controllable contact with a wafer; the multi-dimensional signal sensing module is used for synchronously acquiring a contact resistance signal and a nanoprobe deformation signal; the data processing and control module is used for realizing signal analysis, force value calculation and driving control of a contact resistance signal and a nanoprobe deformation signal; the man-machine interaction module comprises a touch display screen and a real-time data recorder and is used for realizing visualization of force signals; the data processing and control module carries out cooperative analysis on the contact resistance signal and the nanoprobe deformation signal obtained by the multi-dimensional signal sensing module to obtain the real-time contact force of the nanoprobe and the wafer. The system solves the problem that a traditional nanoprobe detection system cannot feed back the contact force in real time.

The invention discloses a manufacturing method for an automatic polishing system for a complex special-shaped thin-wall skin. The manufacturing method comprises the following steps that (1) a polishing head module is designed; (2) a six-axis robot is arranged; (3) designing a supporting vehicle module; (4) planning a polishing path; and (5) starting a polishing working procedure. The intelligent machining design concept is added, the force control technology, the vision technology, the software technology and the like are fused in grinding equipment, the automatic robot technology, the grinding automatic alignment planning technology, the automatic photographing positioning technology and the like are specifically included, and automatic grinding of the thin-wall skin of the aviation product is achieved; in the grinding process, attitude force / position mixed control compensation is carried out according to contact force of the tail ends of the grinding heads and product contact parts, accuracy and stability of the contact force of the grinding heads are guaranteed, meanwhile, self-adaptive stretching and retracting can be carried out according to contour features of the surfaces of the products, rapid movement between the grinding heads and the contact surfaces is achieved, and the grinding efficiency is improved. And the grinding head is quickly replaced and mounted through the design of a positioning buckle.

The invention discloses a visual guidance positioning system and method in the machine tool flexible shaft assembling process, and relates to the technical field of flexible shaft assembling, a visual system obtains three-dimensional pose data of the tail end of a flexible shaft and a target connector, a six-dimensional force sensor is combined to monitor contact force / torque in real time, the limitation of a single sensor is broken through, and the blind area of the single sensor is solved; visual and force sense coordinate systems are aligned in real time, and coordinate drifting caused by movement of the mechanical arm is eliminated; generating an approximation path based on the pose difference, introducing a compensation amount formula, inhibiting oscillation in combination with an attenuation coefficient, and improving the path smoothness; when the contact force exceeds the dynamic threshold value or the pose difference converges, path correction is automatically triggered, overload damage is avoided, and the assembly damage rate is effectively reduced. The method breaks through the limitation of traditional static path planning, has high precision, high reliability and complex working condition adaptability, and is especially suitable for precise instrument and heavy load machinery assembly scenes.

The invention provides a data acquisition system and a data processing method, and belongs to the technical field of robots. The handheld unit comprises a handheld grip and a tool fixture, the tool fixture is connected with the handheld grip, an operator controls the tool fixture to make contact with and interact with an operation object through the handheld grip, natural operation characteristics of a human body are met, and the skill teaching efficiency can be improved. A data measuring device is arranged and used for measuring the position, posture, contact force, torque information and the like in the operation process, and the problem that traditional position teaching lacks force feedback and the problem of environmental sensitivity existing in visual motion capture can be solved. And finally, the upper computer is used for carrying out unified coordinate system conversion on the measured data, and mapping errors caused by hand-tool-environment coordinate system separation in a traditional method can be eliminated.

The invention relates to a biomimetic robot control system based on digital human action mapping, in particular to the technical field of robot control, solves the problem that a biomimetic robot is difficult to perceive physical attributes only by means of vision, achieves accurate pre-judgment of contact force and material attributes by analyzing digital human fingertip microscopic color change and object texture deformation, and improves the accuracy of the biomimetic robot control system. A robot can establish an adaptive mechanical model before contact, the system dynamically adjusts the flexibility and damping of a mechanical arm according to the environment rigidity and friction characteristics, soft grabbing of hard objects and stable grabbing of sliding objects are achieved, the hysteresis quality of traditional feedback control is effectively overcome, meanwhile, the time sequence feed-forward and energy monitoring mechanism is combined, and the control precision is improved. Collision protection is provided while zero-delay synchronization of actions is ensured, and the operation stability and safety of the robot for fragile and flexible objects in a complex environment are remarkably improved.

The invention discloses a contact force field-based topological optimization design method for a detachable steel structure beam-column joint reinforcing member, which comprises the following steps of: (a) establishing an integral joint finite element model, defining a frictional contact relationship and carrying out nonlinear static analysis; (b) extracting node counter-force components on all contact surfaces and taking the node counter-force components as equivalent loads acting on a reinforcing component; (c) establishing a reinforcing member independent optimization model, applying an equivalent load and defining an inertia release boundary; (d) setting a design variable, a constraint condition and a target function of topological optimization, and solving; and (e) carrying out geometric reconstruction and performance verification on an optimization result. According to the method, a complex contact nonlinear problem is converted into a determined load boundary condition, an inertia release method is utilized to deal with a constraint problem in optimization ingeniously, an optimal topology result of the detachable reinforcing component is obtained finally, and the problem of optimization result distortion caused by the uncertain boundary condition is effectively avoided.

Examples include a device for coating a carrier substrate with a powdered material. The device includes an application unit having a first roller and a second roller which, at a nip thereof, form a first gap through which a powder mixture can be conveyed to form a dry film. A counter-pressure roller, together with the second roller or another roller arranged between the counter-pressure roller and the second roller, forms a second gap through which the carrier substrate to be coated can be guided for having the dry film applied to the carrier substrate. The first gap between the first and second rollers can be adjusted based on a position-based positioning drive by being set to a constant and / or defined gap width, and the second gap can be adjusted based on a force-based positioning drive, and can be set to a constant and / or defined contact force or linear force.

The invention discloses a flexible finger friction contact collision dynamics simulation method based on an absolute node coordinate method, which comprises the following steps: simplifying a finger of a flexible manipulator into a connecting rod system, taking a tail end knuckle as a flexible beam for consideration, and carrying out unit division on the flexible beam system based on the absolute node coordinate method; a contact collision process is described by using an additional constraint method, meanwhile, switching of a viscous state and a sliding state is considered, a friction-containing flexible finger contact collision dynamic model is established, and a dynamic equation of a system is solved by adopting a double-circulation implicit integral algorithm; and obtaining a curve graph that the flexible finger tail end displacement changes along with time and the finger tail end contact force changes along with time. The invention provides a new frictional contact collision dynamic model for a flexible manipulator system, and provides more perfect data information and image information for researchers in the field.

The invention provides an automatic shaft hole assembling method, device and equipment and a storage medium, and relates to the technical field of robots. In some embodiments of the present disclosure, after a robot controls a mechanical arm to grab a workpiece to an assembly position, on a plane perpendicular to the Z-axis direction, the mechanical arm is controlled to diffuse from inside to outside along the center point of the workpiece at a set step length to search the position of a target mounting hole, and the contact force of each step of movement of the mechanical arm in the Z-axis direction is recorded, the Z-axis direction is a shaft hole assembling direction; under the condition that the contact force in the Z-axis direction in the time window is smaller than a set force threshold value, shaft hole alignment is determined; the mechanical arm is controlled to move towards the target mounting hole position in the Z-axis direction to complete assembling; according to the method, the mechanical arm is controlled to automatically assemble the shaft hole according to the set search track by means of the change of the contact force at the tail end of the mechanical arm, a sample does not need to be obtained, the equipment cost is reduced, and good scene reusability is achieved.

The invention discloses a sealing cover mounting structure adopting a pressure self-adaptive sealing structure, which is based on a conventional sealing cover structure, takes a rubber ring as a basic structure, optimizes and adds a co-action component, and particularly takes the internal pressure of a container as a power source for cooperatively changing the up-down moving process of a movable ring, so that the pressure self-adaptive sealing structure is formed. The rubber ring is arranged on the inner wall of the container, the lower pressing piece, the upper pressing piece and the multiple externally-expanded jacking blocks are matched to reinforce the rubber ring again, the contact force between the rubber ring and the inner wall of the container is improved, and therefore the sealing effect of the whole structure is improved, and the air bag with the corresponding effect is additionally arranged between the upper pressing piece and the lower pressing piece; on the other hand, the pressure change in the container can be matched in an active air supply mode, and the purpose is to further interfere with the movement mode of the upper pressing piece and the lower pressing piece in cooperation with the pressure change in the container, so that the sealing capacity of the whole sealing structure is in a relatively stable state.

The invention discloses a vertical open type isolating switch, which comprises a static contact seat, a static contact, a static contact, a static contact and a static contact, and is characterized in that the static contact seat is provided with an open slot; a tool arm base; the tool arm driving shaft is movably mounted on the tool arm base; the tool arm moving seat is hinged to the tool arm base; the conductive tool arm is mounted on the tool arm moving seat and can rotate along with the tool arm moving seat until the conductive tool arm is clamped into the open slot, a radial bulge structure is arranged on the peripheral wall of the conductive tool arm, and the conductive tool arm can rotate along the axis of the conductive tool arm relative to the tool arm moving seat; and the transmission mechanism is used for connecting the tool arm driving shaft with the conductive tool arm in a transmission manner, and can enable the radial bulge structure on the conductive tool arm to tension the open slot after the conductive tool arm is clamped into the open slot. When the conductive cutter arm starts to enter the open slot, the radial bulge structure does not tension the two opposite side walls of the open slot, so that the resistance is not large when the conductive cutter arm enters and exits the open slot, and after the conductive cutter arm is clamped into the open slot, the radial bulge structure continues to rotate and is gradually opened to tension the two opposite side walls of the open slot, so that the conductive cutter arm is in tight contact, and sufficient contact force is ensured.

The invention discloses a labor protection coating glove rubber surface wear resistance testing device, and relates to the technical field of glove testing, the labor protection coating glove rubber surface wear resistance testing device comprises a workbench and a friction roller, the distance between a glove and the friction roller is adjusted through a guide rail moving table, and a hand mold seat simulates the radian of a human hand to ensure fitting; friction rollers of different textures and surface structures can be rapidly replaced without tools, the complex abrasion working condition that gloves make contact with multi-element substances in the industries of buildings, machinery, chemical engineering and the like can be simulated, a control panel can adjust the rotating speed of a motor and the contact force between the gloves and the friction rollers, and multidirectional testing is carried out from the dimensions of friction frequency, pressure environment and the like. Extreme and conventional working conditions are covered, scraps generated by testing are collected by a scrap box, accurate adjustment of a guide rail moving table and design of a hand mold base improve the testing consistency, and the device is suitable for wear resistance testing of various labor protection coating gloves, meets multi-industry standards and provides reliable data for glove research and development and quality control.

The invention discloses an intelligent control method for precise grinding of a robot, and the method comprises the steps: obtaining the information of a to-be-ground workpiece and initial grinding parameters, and the initial grinding parameters comprise the load gravity of the tail end of the robot; generating a target contact force based on the to-be-ground workpiece information and the initial grinding parameters; constructing a gravity compensation model through preset coordinate parameters based on the load gravity at the tail end of the robot; in the grinding process, grinding force data are collected in real time; on the basis of the grinding force data, actual contact force is obtained through a gravity compensation model; comparing the actual contact force with the target contact force to generate a contact force deviation and a deviation change rate; based on the contact force deviation and the deviation change rate, a force-position hybrid control instruction is output through a fuzzy PID controller; and on the basis of the force-position hybrid control instruction, control adjustment parameters of the robot are generated. By forming a complete intelligent control closed loop, constant-force grinding can be achieved, and the problems of uneven surface roughness, excessive grinding and the like are effectively solved.

The invention discloses a shaft hole assembly method and device and a medium, and the method comprises the steps: under the condition that a multi-shaft workpiece is in contact with a porous workpiece, executing the calculation operation of the deviation between a shaft in the multi-shaft workpiece and a corresponding hole in the porous workpiece, and obtaining the deviation; under the condition that the deviation is larger than the preset deviation, the mechanical arm is controlled to drive the multi-axis workpiece to move based on the deviation until the deviation is smaller than or equal to the preset deviation; the mechanical arm is controlled to drive the multi-axis workpiece to execute spiral hole searching operation till the actual contact force value of the contact face of the mechanical arm and the multi-axis workpiece is smaller than or equal to a fourth preset force value; under the condition that the actual contact force value of the contact face of the mechanical arm and the multi-axis workpiece is smaller than or equal to a fourth preset force value, the operation of determining the bottom center position of the shaft entering the hole in the multi-axis workpiece is executed; and the mechanical arm is controlled to drive the multi-axis workpiece to move on the set spherical surface until the contact component force value of the actual contact force of the contact surface of the mechanical arm and the multi-axis workpiece in the third direction is smaller than or equal to a third preset force value.

The invention provides a polishing vibration suppression method and device, electronic equipment and a storage medium, and the method comprises the steps that original vibration data in the workpiece polishing process is acquired; inputting the original vibration data into a vibration position compensation prediction model to determine a vibration position compensation prediction value; the contact force in the workpiece grinding process is obtained; inputting the contact force into a force control position compensation model to determine a force control position compensation predicted value; determining a displacement compensation amount according to the vibration position compensation prediction value and the force control position compensation prediction value; and the displacement compensation amount is input into a position controller so as to carry out position control on an end effector.

A method for predicting dummy head injury during an automobile collision includes: enabling a dummy head to collide with a rigid flat plate; obtaining a first data set in a collision process; calculating the maximum contact force of the dummy head and the rigid flat plate in the collision process according to the first data set; dividing a duration of the collision process into a plurality of time intervals; and calculating an injury value of the dummy head in each time interval according to the maximum contact force, and selecting the maximum injury value as a target injury value. The method provided by the present application may realize prediction for the head injury under different scene working conditions, and has the advantages of being simple in test flow, and high in prediction precision.

The invention belongs to the technical field of mold production, and discloses a simulation-based large-opening structure field shape maintenance scheme forward design method, which comprises the following steps of: 1, simplifying a large-opening structure and establishing a high-fidelity finite element simulation model; deformation of the large-opening structure under the actual working condition is simulated, the elastic deformation degree of the large-opening structure is calculated and evaluated based on the surface shape variance, and a shape maintaining tool supporting point position is selected according to the elastic deformation degree; 2, designing and optimizing a shape-preserving tool model by considering a deformation factor of a large-opening structure and a shape-preserving tool volume factor according to a shape-preserving tool supporting point position; 3, installing the shape-preserving tool model into the high-fidelity finite element simulation model, carrying out large-opening structure deformation simulation analysis in a shape-preserving state, and calculating a surface shape variance in the shape-preserving state; 4, selecting a force control shaft at the tail end of the supporting point position of the shape maintaining tool, designing simulation to obtain the contact force of the force control shaft and the surface shape variance of the supporting point position, and establishing a mathematical model between the contact force of the force control shaft and the surface shape variance of the supporting point position; 5, in the field shape maintaining process, the laser tracker is used for measuring the position error of the shape maintaining tool supporting point position, the surface shape variance of the shape maintaining tool supporting point position is evaluated, and the contact force is calculated based on a mathematical model between the force control shaft contact force and the surface shape variance of the supporting point position.

The present invention discloses a robot adaptive force control and admittance control method and system for wall panel assembly. First, a high-precision photogrammetry system is combined to measure the position and posture of the robot end in real time, and the trajectory is corrected according to the measurement result and the desired position and posture to achieve the positioning of the robot in the position control direction. In the force control direction, a mapping relationship between the robot end force and the contact surface contact force is established through a heteroscedastic neural network mapping model, and an inverse model is jointly trained to map the desired contact force back to the desired end force, so that the contact force on the contact surface is controlled by adjusting the end force, and an adaptive force control and admittance control model is constructed; by interconnecting a virtual energy tank and the adaptive force control and admittance control model, the update of the control model parameters is guided to ensure the passivity of the system; at the same time, the parameters of the virtual energy tank are dynamically adjusted according to the system state, which can maintain the passivity and maximize the assembly accuracy and performance of the robot.

A force sensor comprising a contact arrangement for transmitting a contact force to a force sensor assembly. The force sensor assembly comprising a first sensor sensing, and producing an output from, a normal contact force component of the contact force; and a body moveable on transmission of the contact force to the force sensor assembly; and a second sensor for sensing, and producing an output from, a relative displacement of the body relative to the second sensor, the a tri-axis contact force being determined from the relative displacement.

The invention discloses a robot self-adaptive force control and admittance control method and system for wallboard assembly, and the method comprises the steps: firstly, measuring the pose of the tail end of a robot in real time in combination with a high-precision photogrammetry system, carrying out the track correction according to a measurement result and an expected pose, achieving the positioning of the robot in a position control direction, and carrying out the positioning of the robot in a force control direction; the method comprises the following steps: establishing a mapping relation between robot end force and contact force of a contact surface through a heterovariance neural network mapping model, and jointly training an inverse model to map expected contact force back to expected end force, thereby controlling the contact force on the contact surface by adjusting the end force, and constructing a self-adaptive force control and admittance control model; a virtual energy tank is connected with a self-adaptive force control and admittance control model, so that updating of parameters of the control model is guided, and the passivity of a system is ensured; meanwhile, the parameters of the virtual energy tank are dynamically adjusted according to the system state, passivity can be kept, and the assembly precision and performance of the robot can be improved to the maximum extent.

The invention provides a method for measuring the gravity center of a large component based on a distributed six-dimensional force sensor. The method specifically comprises the steps that firstly, the six-dimensional force sensor is installed below a spherical hinge of a positioner and used for measuring the contact force and friction torque of the spherical hinge; then, according to the conversion principle of force and torque between coordinate systems, the acting force and torque of the positioner on the large component and the gravity and gravitational torque of the large component are converted into the base coordinate system, and therefore a torque balance equation of the large component in the base coordinate system is established; and finally, adjusting the spatial attitude of the large component, and solving the center-of-gravity position by adopting a least square method according to the moment balance equation of the large component under different attitudes. According to the method of the scheme, aiming at the influence of the friction torque of the spherical hinge on the gravity center measurement precision during the gravity center measurement of the large component, the friction torque of the spherical hinge during the posture adjustment of the large component can be calculated, so that the gravity center measurement precision of the large component is improved.

Methods, systems, and apparatuses for combining pressure measurement with a dynamic system model to estimate the air mass within an actuator, and then estimate the applied contact force which may be based on a quasi-static deformation model.

The utility model relates to a double-force-arm terminal and a connector. The double-force-arm terminal is inserted in a terminal hole, can be elastically abutted against a rigid terminal, and comprises a first bending part, and a first elastic force arm and a second elastic force arm which extend outwards from two end parts of the first bending part, when the first bending part elastically abuts against the rigid terminal, the first elastic force arm and the second elastic force arm elastically abut against an inner wall surface, opposite to the rigid terminal, of the terminal hole. According to the double-force-arm terminal provided by the utility model, the elastic force arms are arranged at the two sides of the contact position, so that the elastic force arms at the two sides can provide large contact force at the same time when the double-force-arm terminal is abutted against the rigid terminal of the male seat, the connection resistance is reduced, the fatigue risk is reduced, and the stability is improved.

The invention relates to a force control-based weld joint ultrasonic detection method for a pressure container, and solves the technical problem of how to improve the precision, stability and reliability of defect detection of a weld joint of the pressure container by a mechanical arm driving an ultrasonic probe. A zero drift value of a six-dimensional force sensor and gravity components of an ultrasonic probe in six dimensions are calculated, then actual contact force and actual contact torque are calculated, the actual contact force is input into an impedance control module, force position control of a mechanical arm is achieved, cooperative compliant control over the contact force and the pose of the probe is achieved, and the mechanical arm is controlled. And the detection stability and reliability of the surface and internal defects of the welding seam are obviously improved.

The invention relates to a mechanical arm disordered grabbing algorithm, and belongs to the technical field of robotics, and the method comprises the steps: firstly, obtaining a target material image and a point cloud sample, and training a multi-modal attention fusion perception model through sample enhancement processing and a difficult case mining mechanism after the target material image and the point cloud sample are labeled with categories, postures and grabbing areas; secondly, a mechanical arm obtains operation area data, the operation area data are input into a multi-modal attention fusion perception model to obtain initial attitude parameters, errors are corrected by combining with a visual data fusion calibration model, and the material stacking state is judged through a dynamic reference comparison method; thirdly, based on the correction parameters and the stacking state, an evaluation function is constructed to screen collision-free and stress-balanced grabbing points, and a collision-free path is planned by fusing kinematics constraints of the mechanical arm; and finally, the grabbing action is executed, the strength and the posture are adjusted in real time according to the contact force and the position deviation, the material stability is evaluated through vision after grabbing, and the stability and the operation efficiency of the mechanical arm in a complex disordered scene are improved.