The invention belongs to the technical field of modern industrial intelligent control, and particularly discloses a self-adaptive torque control method for bilateral pose positioning of a multi-station mechanical arm. The problem of multi-station mechanical arm pose operation control excessively depending on visual sensor positioning in industrial flow line production is solved. The method comprises the following steps: firstly, system modeling is carried out, and a sliding mode integral term is embedded in a self-adaptive feedback control protocol of a controlled system to carry out closed-loop torque controller design; and a loop-free topological structure integrally formed by an assembly line system is utilized, initial state information is adjusted in advance, a multi-station mechanical arm is loaded into a designed controller algorithm, then the controller algorithm is evolved to expected multiple sets of bilateral positions, and the method for mechanical arm pose positioning through real-time monitoring of a visual sensor is improved. By means of the method, precise operation of mechanical arm pose control can be conveniently achieved, the automation, intellectualization and integration levels of modern industrial production are improved, and good social benefits and economic values are achieved.
Self-adaptive torque control method for bilateral pose positioning of multi-station mechanical arm