The invention discloses a mechanical arm cable
assembly method and
system, and relates to the technical field of
robot visual perception and control, and the method comprises the steps: obtaining the
point cloud data of a
working environment; fitting a cable center line according to the
point cloud data and determining a relative
pose matrix of the cable terminal and the target slot; an initial alignment attitude matrix of the
tail end of the mechanical arm is determined according to the relative
pose matrix, and an initial
joint angle of the mechanical arm is obtained through solving and serves as a starting point of the
assembly action; after a grabbing point is selected on the center line of the cable and a plug-in mounting path is planned, starting to enter a plug-in mounting stage from a starting point; and error calculation and compensation are carried out according to detection of the
insertion force and the
insertion direction, and it is judged that
assembly is completed until the
insertion force change rate and the
tail end
pose error meet set conditions. Self-sensing, self-judging and self-adjusting flexible assembling is achieved, the assembling precision and robustness are improved, and the
flexible cable automatic grabbing, guiding and inserting device is suitable for automatic grabbing, guiding and inserting operation of flexible cables in industrial automatic production.