Inverse kinematics solution and joint speed planning method for three-joint mechanical arm of sprue sawing machine

The invention relates to a gate sawing machine three-joint mechanical arm inverse kinematics and joint speed planning method. The method comprises the steps that S1, workpiece machining information is input; s2, the rod length of a mechanical arm and the position posture of a cutter are set; s3, an analytic solution relational expression of the tail end data of the three-joint mechanical arm to the joint speed is established through inverse kinematics; s4, whether all workpiece machining points exceed the machinable range of the three-joint mechanical arm or not is judged, if yes, the step S1 is executed again, and if not, the next step is executed; s5, on the basis of each interpolation point data in a workpiece processing track on the workpiece graph, performing inverse kinematics conversion on the interpolation point data of the previous process to generate initial angular velocities of three joints of the previous process; and S6, carrying out velocity planning on the joint velocities to obtain angular ve