Robot pose control method for nut feeding suite

The invention belongs to the technical field of robot control, particularly relates to a robot pose control method, system and equipment for a nut feeding suite and a storage medium, and aims at solving the problems that an existing robot pose control method is poor in control precision and robustness, and consequently the efficiency and safety of a robot are low. The method comprises the following steps: constructing a kinetic model of a robot joint space and a kinematic model of a Cartesian space; establishing a PID controller of each joint of the robot; obtaining an optimal path of an end effector of the robot from an initial position to a target position through a pre-constructed path planning method combining deep reinforcement learning and adaptive trajectory optimization; and gradually adjusting the joint angle of the robot according to the optimal path, and adjusting the force and torque output of an end effector of the robot by utilizing each PID controller. According to the method, the precision and