Remote operation control method for under-drive mechanism

The invention discloses an underactuated mechanism remote operation control method which comprises the following steps: S1, constructing a virtual underactuated mechanism according to a clamping end of a master manipulator, and calculating a pose transformation relationship between the virtual underactuated mechanism and the underactuated mechanism; s2, a constraint is constructed according to the limited degree of freedom of the under-drive mechanism, and an impedance controller of the virtual under-drive mechanism is constructed according to the constraint; and S3, acquiring a target pose of the under-driven mechanism, and controlling the under-driven mechanism by combining S1 and S2. According to the invention, a constraint is constructed aiming at the limited degree of freedom of the endoscope, and an impedance controller of the virtual endoscope constructed at the master hand end is constructed accordingly, so that control on the endoscope is converted into impedance control on the master hand, and the c