Brake disengagement control method for collaborative robot, collaborative robot and storage medium

The invention relates to a collaborative robot brake disengaging control method, a collaborative robot and a storage medium. The method comprises the steps that the collaborative robot is started; keeping the collaborative robot in a stable state; all single shifting pieces on the collaborative robot are kept to be tightly attached to the corresponding tooth pieces; acquiring a first motion direction of a servo motor on the collaborative robot; a movement joint of the collaborative robot is controlled to move by a preset angle in the second movement direction opposite to the first movement direction so that the single shifting piece can be disengaged from the tooth piece; and the collaborative robot is controlled to generate suction force to adsorb the single shifting piece so as to release the brake. According to the collaborative robot brake disengaging control method, the collaborative robot and the storage medium, brake of the collaborative robot can be disengaged without human intervention, operation is