Robot compliance control method and device, equipment and storage medium

The invention belongs to the technical field of computers and provides a robot compliance control method and device, equipment and a storage medium. The robot compliance control method comprises the steps that demonstration data of demonstration motion are obtained, according to motion data in the demonstration data, the motion equation of the demonstration motion is calculated, and the variable impedance parameter of the demonstration motion is calculated according to interaction force data in the demonstration data at the same time; and according to the motion equation and the variable impedance parameter, operation is controlled. In this way, manual programming is reduced in the robot compliance control process, the use threshold of a robot is lowered, and the compliance and accuracy ofrobot control are improved; and then, the generalization capacity, the intelligence degree and the control effect of the robot are improved. 本发明适用计算机技术领域，提供了一种机器人柔顺性控制方法、装置、设备及存储介质，该方法包括：获取示教运动的示教数据，根据示教数据中的运动数据计算示教运动的运动方程，并