Mechanical arm obstacle avoidance path planning method and system and medium

The embodiment of the invention provides a mechanical arm obstacle avoidance path planning method and system and a medium, and the method comprises the steps: constructing a static scene model and a dynamic model based on a grid type point cloud, and reconstructing an obstacle avoidance scene with an additional safety distance; acquiring a reachable obstacle avoidance path for cooperative exploration of the mechanical arm, searching an obstacle avoidance path point, and controlling the mechanical arm to move to the nearest collision-free point according to the minimum obstacle avoidance direction; judging whether the current posture of the mechanical arm is free of collision and the linear interpolation motion between the mechanical arm and the adjacent points is free of collision, if not, keeping the current posture immovable, and if yes, controlling the mechanical arm to move by a stepping unit length according to the minimum obstacle avoidance direction; the method comprises the following steps: optimizing