The invention discloses a hand-eye cooperative
robot control system and method based on dynamic operator arrangement, an upper computer planning layer operates a master control computer to periodically trigger task scheduling, a joint controller of a lower computer execution layer receives an instruction through a redundant
bus to perform
servo control, hand-eye camera data triggers a visual
assembly line through an interrupt event, and a visual
assembly line is controlled through a control interface. According to the method, pressure is calculated through
visual processing,
motion planning and joint control in a
load sharing mode, a double-buffering mechanism is adopted to enable current frame
visual processing and previous frame
motion control to be executed in an overlapping mode, real-time scheduling and
parallel computing of tasks are completed, hot data are cached in a memory
database, cold data are archived to an HDFS and migrated through an LRU strategy, and the real-time scheduling and
parallel computing of the tasks are completed.
Data type conversion is automatically derived and performed based on a feature type registry, and
conditional branch execution is triggered according to real-time sensor data. According to the
control system, cross-hardware
plug and play,
algorithm flow configurability and data flow real-
time sharing are achieved, and the requirement for improving the efficiency of complex operation tasks is met.