The invention discloses a flexible control method and
system for a multi-degree-of-freedom mechanical arm, belongs to the technical field of multi-degree-of-freedom mechanical arm control, and solves the problem of how to obtain load gravity and a
gravity center position only through a load parameter identification manner when a
tail end tool of the mechanical arm is changed and automatically perform load parameter compensation.
Kinematics modeling is conducted according to the characteristics of the mechanical arm, mechanical arm
tail end tool load parameters including gravity and the
gravity center position are identified, force feedback of a six-dimensional
force sensor is obtained, and tool load parameter compensation is conducted; after compensation, force data are substituted into a flexible control strategy module, a
pose offset is calculated, a real-time interpolation target track point of the mechanical arm is adjusted, the adjusted target track point is sent to a mechanical arm joint after inverse solution, the joint position and speed in the movement process of the mechanical arm are collected, and load parameter compensation control is automatically carried out; and according to the scheme, when the
tail end tool is changed, the gravity and the
gravity center position of the tool can be obtained only through the load parameter identification manner, load parameter compensation is automatically carried out, and the working efficiency is improved.