Control device, control system and control method for arm support equipment link mechanism, and engineering machinery

The invention discloses a control device, a control system and a control method for an arm support equipment link mechanism, and engineering machinery comprising the system. Arm support equipment comprises a plurality of arm sections that are connected mutually, wherein link mechanisms and oil cylinders used for driving the link mechanisms are connected among the adjacent arm sections, and the control device comprises a receiver used for receiving target included angles between the adjacent arm sections, and a controller that is connected with the receiver and used for obtaining oil cylinder lengths corresponding to the target included angles according to the target included angles and a target included angle and oil cylinder length mapping table, and for controlling the extension lengths among the oil cylinders. With the adoption of the technical scheme, the oil cylinder lengths corresponding to the target included angles can be determined directly by looking up the mapping table, the computational efficiency is high, and a complicated geometric operation process is avoided. In addition, even if a geometric model is changed, a control algorithm is not affected, and only data in the mapping table is required to be updated again.