Multi-configuration mechanical arm hierarchical control method and system based on movement track

The invention provides a multi-configuration mechanical arm hierarchical control method and system based on a movement track. The method comprises the steps that the configuration of a mechanical armis determined according to the joint ID sequence, and movement track parameters corresponding to the configuration are acquired from a movement track parameter library which stores movement track parameters of multiple configurations in advance; pose information of expected mechanical arm terminal arrival and the current pose information of the mechanical arm are acquired; the movement track of the mechanical arm is obtained according to the pose information of the expected mechanical arm terminal arrival, the current pose information of the mechanical arm and the movement track parameters, and executable high-dimensional movement information of all joints in the mechanical arm is obtained according to the movement track; and all the joints of the mechanical arm are controlled according tothe high-dimensional move