Mechanical arm track optimization method and device, electronic equipment and storage medium

The invention provides a mechanical arm track optimization method and device, electronic equipment and a storage medium, and relates to the technical field of mechanical arms, and the specific implementation scheme is as follows: determining a first objective function and a second objective function of the mechanical arm according to dynamic information of the mechanical arm; determining constraint conditions of the mechanical arm according to the joint angle information of the mechanical arm and the angular velocity information of the mechanical arm; according to the first target function, the second target function and the constraint condition, a multi-target function with the minimum base disturbance as the high priority and the minimum mechanical arm torque energy as the secondary priority is determined; the multi-objective function is optimized based on the chaotic particle swarm optimization to obtain the optimal solution information of the multi-objective function, so that the problems of premature con