Method and device controlling spatial motion of intelligent arm

The invention discloses a method and device for controlling the spatial motion of an intelligent arm. The method comprises the steps of determining a first coordinate of the tail end of an arm rest in an arm rest plane coordinate system and a second coordinate of the tail end of the arm rest in an arm rest projection coordinate system; when a coordinate system of a remote controller does not correspond to an arm rest spatial coordinate system, adjusting the arm rest projection coordinate system and the second coordinate or adjusting the coordinate system of the remote controller, determining a third coordinate of the intelligent arm, and conducting calculation to obtain the rotating angle of a rotating table; or when the coordinate system of the remote controller corresponds to the arm rest spatial coordinate system, conducting calculation to obtain the rotating angle of the rotating table according to the second coordinate and the third coordinate; calculating the coordinate variation of the intelligent arm; determining the angle difference of included angles between two adjacent segments of the arm rest of the intelligent arm according to an optimization algorithm; respectively controlling the motion of the rotating table and the arm rest of the intelligent arm according to the rotating angle of the rotating table and the angle difference. According to the method for controlling the spatial motion of the intelligent arm, the movement of the intelligent arm in the space can be conveniently and automatically controlled, the use performance of the intelligent arm rest is improved, and the operation difficulty of the arm rest can be reduced.