The invention discloses a
robot protection control method and device based on motion state detection, and relates to the technical field of
robot control, and the method comprises the steps: obtaining motion state data and external collision data, evaluating an unbalance state, adjusting a joint motor to lower the
gravity center if the unbalance state is unbalanced, carrying out the re-evaluation until balance, and obtaining the vibration data of a
robot after the balance. And an avoidance demand is evaluated, and when avoidance is needed, an avoidance
algorithm is used to execute avoidance until avoidance is not needed, and then the action is continued. According to the method, the motion state data and the external collision data are obtained, evaluation is carried out according to the posture anomaly coefficient and the collision unbalance coefficient, whether the robot is unbalanced or not is judged, the accuracy of robot unbalance judgment is improved, the
joint angle of the robot is adjusted through the joint motor, the
gravity center of the robot is transferred, and the robot unbalance judgment accuracy is improved. And the
gravity center is lowered, so that the torque of the robot is reduced, the stability of the robot is improved, the balance of the robot is improved, and the action efficiency of the robot is improved.