Multi-robot cooperative carrying force-position hybrid control method

The invention discloses a force-position hybrid control method for multi-robot cooperative carrying. The method comprises the following steps: firstly, establishing a cooperative carrying dynamic model of multiple robots; then a robot position error is set, an error conversion function is introduced to carry out error conversion, the position error after robot conversion is processed, and an error transfer dynamics model is obtained in combination with the collaborative carrying dynamics model; the error transfer dynamics model is rewritten, a sliding mode function and a disturbance estimation error are set, a specified performance controller is designed according to the rewritten error transfer dynamics model, the sliding mode function and the disturbance estimation error, and the input torque of the robot is calculated; secondly, presetting an impedance model, a spring model and environment rigidity estimation, and calculating to obtain the contact force estimation and the position of an end effector of the