Mobile Composite Robotic Arm Modelling and External Coupling Control

In this paper, a general coordination approach is proposed to realize the cooperative work between the mobile chassis and the redundant robotic arm in the task space through external coupling. The motion of the mobile robotic arm is regulated by controlling the weight ratio of the objective function of each constraint. Firstly, the kinematics of the chassis is analyzed in detail according to the kinematic model of the mobile chassis and the robotic arm, and then the inverse kinematics of the redundant robotic arm based on a combination of analytical and geometric methods is used to solve for the angle values of each joint of the robotic arm, and then the velocity mapping from the joint space to the task space and the geometric Jacobi matrix of the generic form are introduced according to the kinematic model of the mobile robotic arm. Based on this, the strong coupling motion of the mobile robotic arm is achieved by combining the constrained objective function with an external coordinated coupling according to the arm's own configuration and the adapted operating characteristics, and finally the effectiveness of the method is verified in the ROS operating system.