Intelligent compliance control method and device for industrial robot

The invention discloses an intelligent compliance control method and device for an industrial robot, and belongs to the technical field of industrial robot control, and the method comprises the steps: collecting the actual position information and actual contact force information of an end effector when the industrial robot executes a work task; inputting the actual position information and the expected position information into a robot position servo ring through a robot kinematics model to obtain a position driving quantity; the expected position information and the actual contact force information are input into a robot dynamic model, and a first force driving amount is obtained; inputting the expected contact force information, the actual contact force information and the actual position information into an impedance control model to obtain a second force driving amount; and feedback control is performed on the motion position and the contact force of the end effector by using the position driving quantit