SYSTEM AND METHOD FOR CONTROLLING MOVEMENT OF TAIL END OF EXECUTION ARM

摘要

A method and system for controlling movement of a tail end of an execution arm. The method comprises the following steps: 11) arranging a camera (100) at a tail end (500) of the execution arm and arranging an identifier (10) in a visible area of the camera (100); 12) the camera (100) obtaining an image of the identifier (10) in real time; 13) pre-storing an initial image of the identifier at an initial position, comparing the initial image with the image of the identifier obtained in real time, and calculating real-time displacement of the tail end of the execution arm (500) relative to the initial position; and 14) controlling the movement of the tail end (500) of the execution arm according to the real-time displacement of the tail end (500) of the execution arm. In the control method and control system, the real-time displacement of the tail end (500) of the execution arm is obtained through direct image analysis, so that an instruction of controlling the movement of the execution arm is output. Compared with the calculation manner based on a plurality of superimposed sensor data signals in the prior art, the calculation manner based on image comparison is more accurate.