Control method of mechanical arm, calibration method, device, equipment and medium

The embodiment of the invention provides a control method of a mechanical arm, a calibration method, a calibration device, equipment and a medium, and the method comprises the following steps: collecting first image data containing a target identification code when the tail end of the mechanical arm moves to different positions; determining first coordinate information of a feature point of the target identification code in a first coordinate system according to the first image data; acquiring second coordinate information of the feature point of the tail end of the mechanical arm in a second coordinate system when the tail end of the mechanical arm moves to different positions; and determining a target transformation matrix according to the first coordinate information and the second coordinate information. According to the embodiment of the invention, the calibration of the mechanical arm can be completed through the target identification code arranged at the tail end of the mechanical arm; compared with a