Automatic programming method and device for surface polishing processing based on polishing robot

The invention discloses an automatic programming method and device for surface polishing processing based on a polishing robot. The automatic programming method comprises the following steps that firstly a target item sequence required to be polished of a to-be-machined workpiece is obtained from a 3D point cloud model of the to-be-machined workpiece; and a collision-avoiding movement track whichcan be executed by the polishing robot is finished through a path planning algorithm, and the joint angular vector of the robot is calculated through inverse kinematics; the joint angular vector serves as instrument for driving the robot to execute planned actions to achieve the trimming task, so that the automatic collision-avoiding path planning and operation ability of the polishing robot is achieved, that is, the polishing robot can automatically plan the path and finish the polishing machining task, and thus the machining efficiency is greatly improved and cost is saved; and meanwhile, the problems that missed ju