A mechanical arm movement control method and device (30), and a computer-readable storage medium. The mechanical arm movement control method comprises: acquiring movement planning path information of a mechanical arm, the movement planning path information comprising spatial voxel codes of a plurality of target positions at the tail end of the mechanical arm corresponding to a movement planning path of the mechanical arm; determining, according to the spatial voxel codes and the correspondence between the target positions at the tail end of the mechanical arm and joint angles of all joints of the mechanical arm, target joint angles of all the joints of the mechanical arm when the tail end of the mechanical arm is located in the spatial voxel codes; and sequentially controlling, according to the movement planning path information, the joint angles of all the joints of the mechanical arm to adjust to the target joint angles corresponding to the spatial voxel codes.
MECHANICAL ARM MOVEMENT CONTROL METHOD AND DEVICE, AND COMPUTER-READABLE STORAGE MEDIUM