Zero-force control method and device, electronic equipment and storage medium

The invention discloses a zero-force control method and device, electronic equipment and a storage medium, and belongs to the technical field of robotics.The zero-force control method comprises the steps that the actual stress of a target robot is obtained; the expected force, the dynamic compensation item and the actual stress are input into a force controller, and the target speed is obtained; inputting the target speed into a speed loop controller to obtain a control current; inputting the control current into a current loop controller to obtain a control voltage; the torque of the motor is adjusted by the control voltage. According to the method, the zero-force control process is high in response speed, and control is more stable. 本申请公开了一种零力控制方法、装置、电子设备及存储介质，属于机器人技术领域，其中，零力控制方法包括：获取目标机器人的实际受力；将期望力、动力学补偿项和实际受力输入力控制器，得到目标速度；将目标速度输入速度环控制器，得到控制电流；将控制电流输入电流环控制器，得到控制电压；利用控制电压调节电机的力矩。该方法的零力控制过程响应速度快，并且控制更加平稳。