Compliance control method and system based on collaborative operation of double-arm robot

The invention discloses a compliance control method based on collaborative operation of a double-arm robot. The method comprises the steps that a double-arm collaborative control module sets up a dynamic model according to an expected motion trail of target loads and expected force to obtain tail end expected poses and tail end expected force of all mechanical arms; a single-arm control module completes analysis and execution of an expected task instruction to obtain expected angles of all joints of the mechanical arms; and a drive module drives the mechanical arms to complete the task trail according to the planned expected joint angles. The invention further provides a compliance control method based on collaborative operation of the double-arm robot. According to the scheme, master-slave mode and share-based mode strategies are adopted for carrying out public force decomposition on the loads to obtain expected operation force of two mechanical arms, and then a master-slave mode compliance control method and a share-based compliance control method for double-arm collaborative operation are provided. The method is widely applied to the double-arm collaborative control field of robot technologies.