Control method and device suitable for three-joint manipulator, terminal and medium

The invention relates to the technical field of production control, and discloses a control method and device suitable for a three-joint manipulator, a terminal and a medium. The three-joint manipulator is decomposed into three subsystems through an inversion control algorithm, and whether the subsystems are in a stable state or not is judged; if the subsystems are stable, the control law of the three-joint manipulator system is obtained; if the subsystems are unstable, a fuzzy system of the three-joint manipulator is constructed; obtaining a fuzzy control law of the three-joint manipulator system through a fuzzy system; the three-joint manipulator is controlled through the fuzzy control law and/or the control law; according to the method, the dynamic performance model is constructed, the three-joint manipulator is decomposed into the three subsystems according to the dynamic performance model, and the fuzzy system is introduced, so that the three-joint manipulator is controlled under the condition that a sys