Control method and device of flexible mechanical arm and flexible mechanical arm

The invention provides a control method and device for a flexible mechanical arm and the flexible mechanical arm, and the method comprises the steps that the actual angle value and the actual angular velocity value of each flexible joint of the flexible mechanical arm, and the tail end actual position information and the tail end actual velocity value of the flexible mechanical arm are obtained; the tail end expected position information and the tail end expected speed value of the flexible mechanical arm are determined; inputting the tail end actual position information, the tail end actual speed value, the tail end expected position information and the tail end expected speed value into a preset neural network compensation model to obtain an expected angle correction value and an expected angular speed correction value of each flexible joint; according to the actual angle value, the actual angular velocity value, the expected angle correction value and the expected angular velocity correction value of each