Industrial robot bending following method

The invention discloses an industrial robot bending following method, and relates to the field of industrial robot bending following methods. The method comprises the following steps that a user coordinate system is established according to a bending knife, the position and the posture of an industrial robot at the bending starting point are obtained based on the user coordinate system, accordingto the position information of the bending knife fed back by an external sensor, the data change quantity in a certain sampling period is calculated, so that the change quantity and the speed of the bending knife are obtained, by combining the bending knife parameters, the bending machine speed and the plate parameters, the real-time position and the real-time posture of the robot under the user coordinate system are calculated, and the position and the posture of the real-time position and the real-time posture of the bending knife under a rectangular coordinate system are found through the bridge, namely the user co