Robot control method and device and robot equipment

The invention discloses a robot control method and device and robot equipment. The method comprises the steps that the number of joints of the robot and space coordinates of a target position point are obtained; constructing a homogeneous matrix equation corresponding to the number of the joints based on the space coordinates of the target position point; solving the homogeneous matrix equation by adopting a preset enhanced learning bee colony algorithm to obtain a rotation angle of each joint of the robot; and controlling the motor of each joint to operate according to the rotation angle. According to the method, the technical problem that the calculation process is tedious and complex when the joint motion angle of the robot is solved in the related technology is solved. 本发明公开了一种机器人的控制方法及控制装置、机器人设备。其中，该方法包括：获取机器人的关节数量和目标位置点的空间坐标；基于目标位置点的空间坐标，构造与关节数量对应的齐次矩阵方程；采用预设加强学习蜂群算法求解齐次矩阵方程，得到机器人各个关节的转动角度；控制各个关节的电机按照转动角度运转。本发明解决了相关技术中在求解机器人的关节运动角时，存在计算过程繁琐复杂的技术问题。