The application provides a multi-specification target object grasping method based on a
large model, which comprises three steps of constructing a grasping gesture dataset for multi-specification objects, performing
object specification semantic guidance based on a
large model (that is, fusing a prompt word
engineering technology and a language
large model to obtain text information of object shape, components, size, material and grasping gesture description for
object specification characterization learning), and constructing a grasping generation model with
object specification perception. The application relies on advanced large model technology and the unique generation capability of a
diffusion model, and is committed to proposing a grasping mechanism guided by object specification information, and constructing a generation model with generalization and object specification
perception, and focuses on solving the key work of grasping gesture generation of different specification objects.