Method and system for controlling movement of tail end of executing arm

The invention discloses a method for controlling the movement of a tail end of an executing arm. The method comprises the following steps of: 11) arranging a camera at the tail end of the executing arm and arranging an identifier in a visible area of the camera; 12) obtaining an image of the identifier by the camera in real time; 13) pre-storing an initial image of the identifier at an initial position, comparing the initial image with the real-time obtained image of the identifier, and calculating the real-time displacement of the tail end of the executing arm relative to the initial position; and 14) controlling the movement of the tail end of the executing arm according to the real-time displacement of the tail end of the executing arm. According to the control method, the real-time displacement of the tail end of the executing arm is obtained through direct image analysis, so that an instruction to control the movement of the executing arm is output. Compared with a manner of overlapping and calculating of a plurality of sensor data signals in the prior art, the manner of directly comparing and calculating the images is higher in accuracy. The invention further discloses a system for controlling the movement of the tail end of the executing arm.