Robot cooperative control method, device, equipment, medium and program product

The invention relates to the technical field of industrial robot control, and discloses a robot cooperative control method, device and equipment, a medium and a program product, and the method comprises the steps: obtaining a double-robot impedance control model related to the relation between an environment acting force and a robot tail end track; determining a stability control boundary condition; creating a robot control system based on the robot end expected trajectory, the expected environment acting force and the double-robot impedance control model, and converting and generating a robot end actual trajectory expression according to the robot control system; setting impedance parameters in the actual track expression of the robot end according to the stable control boundary conditions, and solving the actual track expression of the robot end to obtain an actual track result of the robot end for controlling the robot to act. The control flexibility of the double-industrial-robot system is improved. 本发明涉及