The invention discloses a robot control method, device and system. The method comprises the steps that a to-be-played target music score is acquired; a target robot is adjusted to play spots and meters in the target music score, wherein the spots correspond to multiple playing spots in the target music score, and the meters are used for indicating time intervals among the spots; the playing operation of the target robot is fitted according to the spots and the meters, so that the playing control information of the target robot is determined; and the target robot is controlled to play the target music score according to the playing control information. By adopting the robot control method, device and system, the technical problems in the prior art that a large amount of time needs to be spent practicing the music score, so that the playing efficiency is low, and errors are prone to happening are solved.