The invention provides a method, a device and a system for controlling multi-shaft movement of a robot, and relates to the technical field of artificial intelligence. The jog operation efficiency canbe improved, and meanwhile, the jog safety is ensured. The control method comprises the following steps of receiving jog movement starting or stopping signals of a plurality of movement shafts, and generating a plurality of jog operation instructions, wherein each jog operation instruction corresponds to a jog operation instruction of one movement shaft; under a Cartesian coordinate system, planning the movement track of a tail end executor of the robot according to the plurality of jog operation instructions, and generating various periodic joint movement instructions of the robot; and converting the periodic joint movement instructions into a motor movement instruction of the robot so as to control the plurality of movement shafts of the robot to move at the same time. The method, the device and the system for controlling the multi-shaft movement of the robot are used for improving the usability of the robot.