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The present application relates to a kind of slope self-adaptive compensation control methods of horizontal joint hoisting robot, comprising: installing two-dimensional inclination sensor on the base of horizontal joint robot, measure warehouse floor slope;According to the slope, analytical calculation horizontal joint robot in each axis direction of tool coordinate system under the compensation offset;According to the compensation offset of each axis direction, the hoisting position coordinates and hoisting planning path coordinates of target goods are position rectification and optimization, obtain after compensation hoisting position and optimized hoisting path;Control horizontal joint robot moves to after compensation hoisting position;Lowering sling hoist goods;Horizontal joint robot hoists goods according to optimized hoisting path.The present application can control horizontal joint robot in the narrow space of warehouse and ground comprehensive angle not more than 10 ° Smoothly hoist goods, enter warehouse.