A method for controlling a robot to rotate a joint, comprising: receiving a trajectory parameter set for controlling a robot to rotate a joint to perform trajectory motion; for each uniform-motion speed, controlling the robot to rotate the joint to perform trajectory motion corresponding to the uniform-motion speed, and reading, in a uniform-motion phase of the trajectory motion, driving torque of a driving motor of the robot as measured friction torque; constructing a dynamic friction model according to each uniform-motion speed and the measured friction torque corresponding to the uniform-motion speed; and when a request to control operation of the robot is received, correcting, according to the dynamic friction model, driving torque generated according to the request, so as to rotate, according to the corrected driving torque, the joint so as to perform a movement. The method of the invention can reduce the error of a robot in identifying friction force, improving accuracy of controlling the robot to rotate a joint. A device for controlling a robot to rotate a joint and a robot are also provided.