Kinematics solving method and system for seven-degree-of-freedom teleoperation mechanical arm system

The invention provides a kinematics solving method and system for a seven-degree-of-freedom teleoperation mechanical arm system. The kinematics solving method comprises the steps that a seven-degree-of-freedom teleoperation mechanical arm D-H coordinate system is established; not less than two groups of connecting rod pose transformation data of the seven-degree-of-freedom teleoperation mechanical arm are obtained, a D-H matrix method is utilized, logic processing is conducted on a D-H coordinate system of the seven-degree-of-freedom teleoperation mechanical arm and the connecting rod pose transformation data according to a preset relation, and a forward kinematics equation of the seven-degree-of-freedom teleoperation mechanical arm is established according to the logic processing, so that the mechanical arm connecting rod coordinate relation is represented; a preset mechanical arm angle of the seven-degree-of-freedom teleoperation mechanical arm is collected in real time, and the preset mechanical arm angle