Robot mechanical arm path planning method, device and equipment and storage medium

The invention discloses a path planning method, device and equipment for a robot mechanical arm and a storage medium. The method comprises the steps that a mechanical arm model of a to-be-planned mechanical arm in a task space is constructed, and initial pose information of all joint points of the to-be-planned mechanical arm in the task space is determined; according to the position relation between the obstacle center point of the target obstacle and the connecting rod line segments between the joint points, the collision detection safety distance of the to-be-planned mechanical arm is determined; constructing an artificial potential field comprising a global force field and a local force field; according to the initial pose information of each joint point in the task space, the target point position information and the obstacle position information of the target obstacle, based on the collision detection safety distance, the mechanical arm tail end of the mechanical arm to be planned is controlled to condu