Flexible mechanism control method, computer device and detection device

The invention discloses a flexible mechanism control method, a computer device and a detection device, and belongs to the field of machine vision and flexible mechanical devices. The control method comprises the steps that external loads are applied to structural nodes of the tensegrity, a balance equation of the tensegrity is established, an optimization algorithm is adopted based on an expected path of unfolding control, the balance equation is solved, the resting length of the elastic cable is obtained, and the unfolding control process is completed through the resting length of the elastic cable. The invention further provides a computer device and a detection device, expansion control and rotation control of the tensegrity are achieved, compared with a dynamics control mode or a machine learning mode in the prior art, the method has the advantages of being small in calculation amount and high in precision, meanwhile, the purpose that the tensegrity is applied to the field of unmanned aerial vehicle-mount