The invention provides a multi-
mode control system of an
abdominal massage robot. The multi-
mode control system comprises an
abdominal massage robot body, a main controller and an upper computer, the
abdomen massage robot body comprises a multifunctional
massage head; the multifunctional
massage head is connected with a
pressure sensor; the multifunctional massage head is driven by a micro
linear motor to achieve Z-axis lifting, driven by a direct-current gear motor to achieve X-Y plane movement and driven by a
voice coil motor to achieve high-frequency vibration. A
microprocessor unit of the main controller analyzes a control instruction of the upper computer to obtain the position and posture of the massage head in a method pressing period, the movement track of the massage head is determined through
movement planning, and the position change of the corresponding motor is obtained after
inverse kinematics solution. The
microprocessor unit controls the motor driving module to drive the corresponding motor to reach the driving speed or the vibration frequency to drive the massage head to massage; the main controller collects pressure information of the
pressure sensor in real time. The
abdomen massage robot integrates four massage manipulations including pressing,
rubbing, vibrating and pushing. In addition, the position of the motor is controlled in a
cascade PID closed-loop mode, real-time force feedback is combined, the accuracy and safety of massage actions are ensured, and damage caused by too large force is prevented.