Excavator tail end track control method and related equipment

The invention provides a tail end track control method of an excavator and related equipment, and relates to the field of automatic driving. The method comprises the step that when the tail end of an arm of the excavator starts to move, the movement process of at least one arm joint of the excavator is monitored in real time according to a control period. And at the ith control moment, the actual rotation angle of the arm joint relative to the initial state is obtained. And obtaining a target motion track corresponding to the tail end of the excavator arm. And determining a preset rotation angle of the arm joint corresponding to the ith target position and a preset angular velocity corresponding to the ith target position according to the target motion track. And determining a target angular velocity according to the actual rotation angle corresponding to the arm joint corresponding to the ith control moment, the preset rotation angle of the arm joint corresponding to the ith target position and the preset an