With the rapid development of robotic technology

joint torque control

as the core of robot motion control

has become a focal point of research in the field of robotic joint servo control in recent years. This paper aims to provide a systematic review of research on torque control in robotic joint servo systems. First

the structure and modeling of robotic joint servo systems are introduced

and the technical challenges faced by joint torque control are outlined. Subsequently

existing torque control methods are categorized and summarized

with a detailed explanation of the fundamental principles of each method. Based on this

the applicability and challenges of various torque control methods within robotic joint servo systems are thoroughly explored. Finally

the paper provides a comprehensive outlook on the future development trend of torque control technology in robotic joint servo systems

offering insights and reference for the innovation and development of theoretical research and technological approaches.