Mechanical arm control method based on IROS and medium

The invention provides a mechanical arm control method based on IROS and a medium, and belongs to the technical field of mechanical arm control. According to the technical scheme, the method comprises the steps that a mechanical arm structure is obtained, a mechanical arm model is built, mechanical arm structure parameters are obtained, and a parameter table between mechanical arm connecting rods is built; based on the IROS environment, communication between the mechanical arm and the IROS system is established; controlling the mechanical arm to move to a target position through the IROS system; the method specifically comprises the following steps that current joint position information is obtained from the canRecvTopic through an IROS system, the difference value of the current joint position and the target joint position is calculated through a joint space motion mode, the difference value is issued to the mechanical arm from the canSendTopic through a communication node of the IROS system, and the mechani