The embodiment of the invention provides a mechanical arm
insertion and extraction control method and device,
test equipment and a storage medium, and the method comprises the steps that sensor data for sensing the
working environment of a mechanical arm is received, and the
working environment is the environment where the mechanical arm executes
insertion and extraction operation on a target interface; according to the sensor data, the
tail end acting force of a
tail end executor of the mechanical arm and the
pose of the target interface are determined; and under the condition that any one of the
tail end acting force and the
pose of the target interface is abnormal,
control parameters of the mechanical arm are adjusted. According to the embodiment of the invention, the detection results of the visual sensor and the force /
torque sensor are fused, the process of executing the plugging operation of the mechanical arm is monitored in real time, and once the target interface
pose or the tail end acting force is abnormal, the motion track of the mechanical arm is immediately corrected and the
insertion force is adjusted, so that self-adaptive adjustment is realized; and the success rate and the
automation level of the plugging task are effectively improved.