Mechanical arm target capturing method and device based on trajectory prediction control and medium

The invention relates to a mechanical arm target capturing method and device based on trajectory prediction control and a medium. The method comprises the following steps that motion state information of a target object is obtained in real time; inputting the motion state information of the target object into a pre-constructed motion trail prediction model, and outputting a predicted motion trail of the target object; based on the predicted motion trail of the target object, a model prediction control strategy is adopted to construct a mechanical arm visual servo controller and solve the mechanical arm visual servo controller; and controlling the mechanical arm to correct the pose in real time according to the solving result so as to capture the target object. Compared with the prior art, the method has the advantages of higher capture success rate, good generalization performance and the like. 本发明涉及一种基于轨迹预测控制的机械臂目标捕捉方法、设备及介质，该方法包括以下步骤：实时获取目标物体的运动状态信息；将目标物体的运动状态信息输入至预先构建好的运动轨迹预测模型中，输出目标物体的预测运动轨迹；基于目标物体的预测运动轨迹