Mechanical arm task-level time optimal trajectory planning method

The invention relates to a mechanical arm task-level time optimal trajectory planning method. The mechanical arm task-level time optimal trajectory planning method is characterized by comprising the steps that machining path trajectories between any two points are firstly planned out; then the machining path trajectories are rearranged, and the task-level time optimal machining path trajectory isobtained; then by means of starting point repositioning, the task-level time optimal machining path trajectory is transformed into the machining path trajectory which can be performed by a grinding mechanical arm, and the optimization algorithm for rearranging trajectory path points adopts a simulated annealing algorithm. By means of the mechanical arm task-level time optimal trajectory planning method, the requirements of the task-level collision avoidance trajectory in grinding machining can be met, furthermore, the fact that the total machining time is optimal is met, and the mechanical armtask-level time optimal t