Robot dragging teaching zero-force control method for friction force self-adaptive compensation

The invention discloses a robot dragging teaching zero-force control method with friction force self-adaptive compensation. The method comprises the steps that a coulomb viscous friction model is adopted to conduct modeling on joint friction force of a robot; torque feedback values of the joints in uniform motion at different speed levels are collected for fitting calculation of joint friction force; starting torque compensation is constructed by adopting a trapezoidal two-way alternating method; and joint torque limitation and joint speed limitation are set, and in combination with a friction torque compensation value when the robot moves and the constructed starting torque compensation, the output torque of robot dragging teaching zero-force control is obtained. Friction force self-adaptive compensation is carried out according to the change of the speed during joint movement, optimization is carried out aiming at the problem that large dragging torque needs to be applied during starting, and on the basis,