Space manipulator visual servo motion planning method, system, medium and equipment

The invention relates to the technical field of space mechanical arms, and particularly discloses a space mechanical arm visual servo motion planning method and system, a medium and equipment, and the method comprises the steps that a to-be-processed flight event of a target space mechanical arm is decomposed, and a plurality of target flight events including a space mechanical arm visual servo motion event are obtained; carrying out pre-planning by utilizing the available measurement and control arc section of the target space manipulator and combining the constraint of the target flight event to obtain a first planning result; and if the target on the spacecraft to which the target space manipulator belongs is influenced by light and shadow during simulation implementation of the visual servo motion event of the space manipulator, replanning is carried out in combination with the constraint of the target flight event, and a target planning result is obtained. According to the method, the influence of light