The invention provides a mechanical arm control method and
system based on mechanism-Bayesian joint modeling, and relates to the technical field of
robot control, and the method comprises the steps that firstly, a mechanical arm mechanism model is constructed, parameters of the mechanical arm mechanism model are estimated, and preliminary dynamics prediction is obtained; then, combining with motor driving torque
observation data, establishing a random
mathematical model of mechanism model residual errors, and decomposing the random
mathematical model into deterministic and random parts; carrying out probability learning on the residual error by utilizing a Bayesian neural network, and outputting a prediction mean value and a variance of the residual error; in combination with preliminary
dynamic prediction and residual information, constructing a data-driven uncertainty
adaptive control law without dependence of an acceleration
signal, and carrying out random stability analysis; and a stable joint driving torque instruction is generated, and high-precision trajectory tracking of the mechanical arm is achieved. According to the method, the
interpretability of the mechanism model and the high adaptability of the data driving model are combined, the control precision and flexibility are effectively considered, and the robustness and reliability of the mechanical arm in the complex dynamic environment are improved.