Mechanical arm control method and device and operation machine

The invention relates to the field of engineering machinery, and provides a mechanical arm control method and device and an operation machine.The method comprises the steps that the current value of the joint angle and the current value of the joint angular velocity of each joint of a mechanical arm are obtained; the current value of the joint angle and the current value of the joint angular velocity are input into a preset control model, joint force corresponding to each joint is output through the control model, and the joint force is used for controlling the corresponding joint to move based on the target track; wherein the control model is constructed based on a dynamic model of the mechanical arm, position constraint conditions of all joints and tip interference of the mechanical arm; the kinetic model is used for representing a first relationship among the joint angle, the joint angular velocity and the joint force; the control model is used for representing a second relation among the joint angle, the