Mechanical arm compliant control method, system, medium and equipment

The invention provides a mechanical arm compliance control method, system and device and a medium, and the method comprises the steps: S1, building a mechanical arm joint torque control law, and achieving the external compliance characteristic of a mechanical arm; s2, a mechanical arm dynamic model is established, and dynamic parameters are identified; and S3, according to the mechanical arm joint torque control law and the mechanical arm dynamic model, the response of the mechanical arm to the external acting force is obtained, and the mechanical arm joint achieves the compliant adaptation effect on the external force. 本发明提供了一种机械臂柔顺控制方法、系统、设备及介质，包括：步骤S1：建立机械臂关节力矩控制律，实现机械臂对外的柔顺特性；步骤S2：建立机械臂动力学模型，辨识动力学参数；步骤S3：根据机械臂关节力矩控制律以及机械臂动力学模型，得到机械臂对外界作用力的响应，实现机械臂关节对外力实现柔顺适应效果。