Mechanical arm trajectory planning method and device, storage medium and electronic equipment

The embodiment of the invention provides a mechanical arm track planning method and device, a storage medium and electronic equipment. The method comprises the steps that the current position coordinate of the tip end of a mechanical arm and the target point position coordinate of each target point in a mechanical arm simulation software scene file are obtained; obtaining the target point with the target point position coordinate closest to the current position coordinate from all the target points as a termination track target point; acquiring a preset mechanical arm posture when the tip of the mechanical arm arrives at the termination track target point from the current position coordinate; based on the current position coordinate, a preset mechanical arm posture and a termination track target point position coordinate corresponding to the termination track target point, determining a motion track when the tip of the mechanical arm reaches the termination track target point from the current position coordin