Double-arm robot control method and device, electronic equipment and storage medium

The embodiment of the invention discloses a double-arm robot control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a kinematics model and a dynamics model of a constructed double-arm robot; current motion state information of an end effector of the double-arm robot is obtained in real time based on the kinematic model, and potential collision information of the double-arm robot in the working space is determined based on the kinematic model and the current motion state information; based on the current motion state information, the potential collision information and a pre-constructed trajectory generation model, generating a target motion trajectory sequence of the double-arm robot within a preset duration; and converting the target motion trail sequence into a joint motion control instruction of the double-arm robot based on a closed-loop control algorithm, and controlling the double-arm cooperative motion of the double-arm robot based on t