Robot variable impedance control strategy learning and generalization method based on imitation learning

The invention relates to the technical field of robot learning, in particular to a robot variable impedance control strategy learning and generalization method based on imitation learning, and the method comprises the following steps: 1, collecting a teaching track of the end execution period of a mechanical arm in a Cartesian space, and carrying out the normalization preprocessing of the collected teaching track through a time normalization algorithm; 2, evaluating a teaching track and rigidity gain information based on a variable impedance control strategy; 3, expanding the dynamic motion primitive model; and 4, the generalized teaching track and the operation rigidity curve are obtained, the mechanical arm joint torque needed for achieving the generalized variable impedance control strategy is calculated, corresponding operation is executed through a mechanical arm bottom torque controller of the robot, a series of operation tasks can be smoothly completed, and the operation efficiency is improved. And the