Robot control method and device, computer equipment, medium and robot

The invention discloses a robot control method and device, computer equipment, a storage medium and a robot, which are used for controlling a multi-axis robot, and the method comprises the following steps: obtaining a D-H table of the robot according to the current pose of the robot; calculating a first rotation change matrix of a tool center point of the robot relative to a first rotation change matrix of a base according to the D-H table; calculating a cylindrical coordinate of a tool center point of the robot according to the first rotation change matrix; and controlling the robot to move to the target position according to the cylindrical coordinates. The method can reduce the calculated amount when the pose of the robot is changed, and is simple and convenient to operate. 本发明公开了一种机器人控制方法、装置、计算机设备、存储介质及机器人，用于对多轴机器人进行控制，其中，该方法包括：根据所述机器人的当前位姿，获取所述机器人的D-H表；根据所述D-H表计算所述机器人的的工具中心点相对于底座的第一旋转变化矩阵的第一旋转变化矩阵；根据所述第一旋转变化矩阵计算所述机器人的工具中心点的圆柱坐标；根据所述圆柱坐标控制所述机器人运动至目标位置，该方法可以降低机器人位姿变换时的计算量，操作简便。