Force control assembly control method and device for assisting robot based on NURBS

The invention relates to the field of automation control, in particular to a force control assembly control method and device of an assisting robot based on NURBS. According to the method and device, interpolation processing is carried out on an actual pose offline track of a robot based on an NURBS algorithm, and a theoretical assembly path matched with the robot is obtained; torque information is collected; performing gravity compensation and torque conversion processing on the torque information to obtain environment interaction force; admittance control adjustment processing is conducted on the theoretical assembly path and the environment interaction force based on an admittance control algorithm, and an assembly speed plan of a corrected robot is obtained; according to the force control assembly control method and device for the assisting robot based on the NURBS, the assembly efficiency of force control assembly of the assisting robot can be improved, and the success rate of the force control assembly