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In view of the problem that traditional collaborative robots mostly work according to the prescribed path through teaching or offline programming cannot obtain the feedback information of the robot in real time, resulting in low intelligence. A multi-decision pressure compensation robot massage control system based on stereo vision imaging is proposed. It could reduce the execution time and positioning error of the robot when conducting human body positioning massage, and perform force compensation based on the massage pressure feedback in real time to improve the level of human-computer interaction. Firstly, hand-eye calibration is carried out through binocular vision sensor and collaborative robot, and the robot positioning control is realized by using high-precision real-time point cloud generated by structured light compensation. The massage pressure is fed back through the pressure sensor on the massage end which the massage force is trimmed to ensure the safety and comfort during the massage process. In the visual working range, the experimental data shows that the depth positioning error is within 0.277mm and the accuracy of the robot massage in the appropriate pressure range can reach 97.35%, which effectively solves the problems in robot massage and increases the standard of human-computer interaction and the immersive experience which is made innovations in the direction of stereo imaging technology and medical treatment.
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