The invention provides a clamping force
correction method and
system based on an oil-
tea tree branch clamping
manipulator and a storage medium, and relates to the technical field of
mechanization and
automation, and the method comprises the steps of monitoring and analyzing oil-
tea tree branches, an operation environment and a
manipulator motion state, collecting key parameters, generating a clamping adaptability index and a clamping
stability index, and correcting the clamping force of the oil-
tea tree branches; the clamping adaptability index and the clamping
stability index are combined, and a clamping control index is calculated; constructing a
deep learning model, taking the historical key parameters as a
training set, taking the corresponding historical
manipulator clamping force as a
label, training the model to obtain a clamping force prediction model, inputting the key parameters collected in real time into the model, outputting the predicted clamping force, combining the predicted clamping force with a clamping control index, and calculating the final clamping force. On the basis of obtaining key parameters in real time, the clamping adaptability index and the clamping
stability index are generated, then the clamping control index is calculated, and the purpose of dynamically adjusting the clamping force is achieved.