Trajectory control method for redundant mechanical arm

The invention provides a trajectory control method for a redundant mechanical arm. The method takes a redundant mechanical arm kinematic solving method of a configuration plane as the basis, deduces a speed distribution method of the configuration plane, determines the redundant mechanical arm movement locus planning process of speed distribution based on the configuration plane, deduces the key steps of movement planning: working configuration determination, spatial obstacle avoidance and speed distribution in the configuration plane, can meet the requirements of complex spatial obstacle avoidance, solves the indeterminacy of tail end point locus of the mechanical arm between spatial interpolation points, and can achieve a good movement locus. The invention solves a difficulty of inverse solution of a redundant mechanical arm, is advantageous in high calculation speed and high solving precision, and meets the demands of actual tasks and environment for the locus movement operation of the redundant mechanical arm.