Static balance torque self-adaptive compensation method and device, and storage medium

The invention provides a static balance torque self-adaptive compensation method and device, and a storage medium. The method comprises the following steps: acquiring an original feedback torque valuefrom a motor of a target servo; performing primary amplitude limiting processing on the original feedback torque value to obtain a feedback torque value; judging whether the target servo of the feedback torque value is enabled or not, and acquiring a static balance torque self-adaptive compensation value according to a judgment result; and carrying out secondary amplitude limiting processing on the self-adaptive compensation value to obtain a static balance torque compensation value. According to the invention, the static balance torque compensation value with accurate size and direction canbe provided instantly during servo enabling, a requirement on an upper controller is reduced, hardware cost is not increased, the phenomenon of nodding is avoided or weakened, and the method has practical research significance