The invention relates to the technical field of mechanical arm control, and discloses a zero-gravity control method free from moment sensing. The zero-gravity control method comprises the following steps of step 1, obtaining absolute position parameter pulse values of each knuckle of a mechanical arm through an absolute value encoder, and converting the motor pulse capacity to pulse capacity of anorigin of a cartesian coordinate system; step 2, according to the definition of instantaneous velocity and instantaneous acceleration, calculating loop iteration to calculate the instantaneous velocity value and the instantaneous acceleration value; and step 3, performing programming with a software Matlab to determine the algebraic relation expression between the gravity moment of each knuckle arm and the position parameter of each knuckle of the mechanical arm. Through the adoption of the zero-gravity control method disclosed by the invention, for zero force dragging, a moment sensor is notadopted, so that the cost is low and the operability is high, the zero-gravity control method is easy for application and popularization of industrial automation; and besides, the method is mainly realized with the assistance of recognition of the parameters and a software algorithm, so that time and labor are saved, the programming showing and teaching efficiency is high, and later stage maintaining and upgrading are convenient and swift; and the programming efficiency and quality are improved through dragging slowing and teaching planning points, and a foundation is laid for the yield of products.