Collaborative robot dragging teaching control method, device and equipment and medium

The invention discloses a collaborative robot dragging teaching control method, device and equipment and a medium. The method comprises the following steps that dynamics feed-forward compensation of a robot is calculated; corresponding friction compensation is calculated according to different motion trends; calculating damping at the tail end of each connecting rod of the robot; and adding the dynamic feed-forward compensation torque, the friction compensation torque and the damping torque to serve as expected torque and issuing the expected torque to a joint motor. According to the method, the dragging flexibility of the collaborative robot can be improved on the premise that a joint torque sensor is not additionally arranged, and the deployment efficiency of an operator is improved. 本申请公开一种协作机器人拖动示教控制方法、装置、设备及介质，方法包括如下步骤：计算机器人的动力学前馈补偿；针对不同的运动趋势，计算相应的摩擦补偿；计算机器人各连杆末端的阻尼；将动力学前馈补偿扭矩、摩擦补偿扭矩和阻尼扭矩相加，作为期望扭矩下发给关节电机。本申请能够在不加装关节力矩传感器的前提下提升了协作机器人拖动的柔顺性，提高了操作员的部署效率。