Abstract: A control method of the composite robot includes acquiring multiple forces and multiple torques collected by the force sensor in the current motion when the robot arm is pulled to move; calculating multiple displacement value sets according to the multiple forces, the multiple torques, a preset desired force, a preset desired torque, and a preset model; calculating the optimal solution according to the multiple displacement value sets to obtain a first target displacement value corresponding to the robot arm and a second target displacement value corresponding to the motion mechanism; controlling the robot arm and the motion mechanism to move according to the first target displacement value and the second target displacement value; and repeating the operation of acquiring multiple forces and multiple torques collected by the force sensor in the current motion until the robot arm and the motion mechanism stop moving.