CN118123834A - Three-wheeled omnidirectional mobile mechanical arm repeated motion planning method and system with limited motion space - Google Patents

Abstract

The invention relates to a method and a system for planning repeated movement of a three-wheeled omnidirectional mobile mechanical arm with limited movement space, wherein the method comprises the following steps: establishing a kinematic equation of the three-wheeled omnidirectional mobile mechanical arm under the condition of limited movement space by considering the pose limit of the mobile platform and the joint angle limit of the mechanical arm; converting the kinematics equation into a joint nonlinear equation set, and determining a universal form of a three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme; constructing a speed layer criterion capable of realizing repeated movement; constructing a repeated motion planning scheme based on pseudo-inverse description based on a general form of the speed layer motion planning scheme and a speed layer criterion; and the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform to finish a given end operation task according to the calculation result of the repeated motion planning scheme. Compared with the prior art, the invention can enable the mobile platform and the mechanical arm with limited movement space to return to the respective initial states after completing the task.

Description

Three-wheeled omnidirectional mobile mechanical arm repeated motion planning method and system with limited motion space

Technical Field

The invention relates to the field of motion planning and control of mobile mechanical arms, in particular to a method and a system for planning repeated motion of a three-wheeled omnidirectional mobile mechanical arm with limited motion space.

Background

Because of the portability of the platform and the operability of the mechanical arm, the three-wheeled omnidirectional redundant mobile mechanical arm is widely applied to various fields such as industry, medical treatment, education, military and the like. Repeated motion planning is one of hot spots in application research of three-wheeled omnidirectional mobile mechanical arms; that is, after completion of a given end-effector task, the mobile platform and the robotic arm need to return to their respective initial states simultaneously. Various repeated motion planning schemes based on pseudo-inverse description have been proposed at present and successfully applied to three-wheeled omni-directional mobile mechanical arms. However, these solutions are designed without taking into account the physical constraints of the mobile robot (including the pose limits of the mobile platform and the joint angle limits of the robot). Obviously, it is not suitable for three-wheeled omni-directional mobile mechanical arms with limited movement space, and naturally does not enable the mechanical arms to successfully complete repeated end tasks in limited operation space. Therefore, in the research of the repeated motion planning of the mobile mechanical arm, the process of considering and realizing physical constraint is very necessary.

Disclosure of Invention

The invention aims to provide a three-wheeled omnidirectional mobile mechanical arm repeated motion planning method and system with simple structure, easy realization, less calculation amount and limited motion space.

The aim of the invention can be achieved by the following technical scheme:

The three-wheeled omnidirectional mobile mechanical arm repeated motion planning method with limited motion space comprises the following steps:

Step 1: establishing a kinematic equation of the three-wheeled omnidirectional mobile mechanical arm under the condition of limited movement space by considering the pose limit of the mobile platform and the joint angle limit of the mechanical arm;

Step 2: converting the kinematics equation into a joint nonlinear equation set, and determining a universal form of a three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme;

step 3: constructing a speed layer criterion capable of realizing repeated movement;

Step 4: constructing a repeated motion planning scheme based on pseudo-inverse description based on a general form of the speed layer motion planning scheme and a speed layer criterion;

step 5: and the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform to finish a given end operation task according to the calculation result of the repeated motion planning scheme.

The step 1 specifically comprises the following steps: and for the three-wheeled omnidirectional mobile mechanical arm with limited movement space, performing kinematic modeling according to a Denavit-Hartenberg parameter method, and simultaneously, taking the pose limit of the mobile platform and the joint angle limit of the mechanical arm into consideration to establish a kinematic equation.

The kinematic equation is:

wherein f (·) represents a nonlinear mapping function, Joint position vector representing three-wheeled omni-directional mobile robotic arm and defined as/>P _xy∈R² denotes the position of the mobile platform on the XY plane, i.e. the position of the base of the mechanical arm mounted on the mobile platform, φεR denotes the orientation angle of the mobile platform, θ εR ⁿ denotes the joint angle of the mechanical arm, R _d∈R^m denotes the expected motion trail of the end of the mobile mechanical arm in m-dimensional space,/>Indicating the upper and lower limits of the movement space of the mobile robot.

The step 2 specifically comprises the following steps: and introducing a non-negative quantity, converting a kinematic equation with constraint into a joint nonlinear equation set, and deducing a general form of a speed layer motion planning scheme of the three-wheeled omnidirectional mobile mechanical arm by adopting an exponential decay formula.

The general form of the three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme is expressed as follows:

Wherein, Represents the joint speed of the mobile robot arm and is defined as/> Representing the rotational angular velocity of the drive wheel of a mobile platform,/>Indicating the joint speed of the mechanical arm; /(I)Representing the time derivative of the state vector v.epsilon.R ^{6 +2n},/>Representing the time derivative of r _d; c e R ^{(6+2n)×(3+n)} represents an augmentation factor matrix and is defined as c= [ -I _3+n;I_3+n],I_3+n∈R^(3+n)×(3+n) represents an identity matrix; d e R ^{(6+2n)×(6+2n)} represents a diagonal matrix and is defined as d=diag { v ₁,v₂,…,v_(6+2n)};d∈R⁶⁺²ⁿ represents an augmentation factor vector and is defined as/>W ε R ^{(m+6+2n)×(9+3n)} represents the augmentation factor matrix and is defined as W= [ JM 0; CM 2D ], J e R ^m×(3+n) represents the jacobian matrix of the mobile robotic arm, M e R ^(3+n)×(3+n) represents the matrix of augmentation coefficients and is defined as m= [ A0; 0I _n],I_n∈R^n×n denotes an identity matrix; a epsilon R ^3×3 is a mobile platform structure parameter coefficient matrix and is expressed as follows:

R epsilon R represents the radius of the omni-directional driving wheel of the mobile platform, and l epsilon R represents the distance from the center point of the mobile platform to the omni-directional driving wheel; w epsilon R ^{(9+3n)×(m+6+2n)} represents the pseudo-inverse of W, I _M∈R^{(9+3n)×(9+3n)} represents the identity matrix, and z epsilon R ⁹⁺³ⁿ represents the speed layer criteria derived from preset optimization criteria to achieve different planning objectives.

According to the idea of minimizing the error norm between the current state and the initial state of the three-wheeled omnidirectional mobile mechanical arm, a negative gradient descent formula is adopted to construct a speed layer criterion capable of realizing repeated movement.

The speed layer criterion is as follows:

Wherein, p _xy0∈R² and phi ₀ epsilon R respectively represent the initial position and initial orientation angle of the mobile platform on the XY plane, and theta ₀∈Rⁿ represents the initial value of the joint angle of the mechanical arm; ρ > 0 ε R represents a preset design parameter, 1 _v∈R⁶⁺²ⁿ represents a vector with all elements 1, and the vector is combined And the initial state of the three-wheel omni-directional mobile mechanical arm is shown.

The step 4 specifically comprises the following steps:

Combining a kinematic equation and a speed layer criterion of the mobile platform, enabling z=ηHv _RMP, and constructing a three-wheeled omnidirectional mobile mechanical arm repeated motion planning scheme based on pseudo-inverse description:

wherein, eta > 0 epsilon R represents the repeated motion coefficient, H= [ A ^-,0;0,I_N]∈R^{(9+3n)×(9+3n)} ] represents the augmentation coefficient matrix, I _N∈R^{(6+3n)×(6+3n)} represents the identity matrix, and A ^-∈R^3×3 represents the inverse matrix of the mobile platform structural parameter coefficient matrix A.

The step 5 specifically comprises the following steps: the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform according to the calculation result of the repeated motion planning scheme to complete a given end operation task, and realizes repeated motion planning under the condition of limited motion space, namely, the three-wheeled omnidirectional mobile mechanical arm with limited motion space returns to an initial state after completing the task.

A three-wheeled omnidirectional mobile robotic repetitive motion planning system with limited movement space, comprising:

The repeated motion planning module is used for executing the following steps: establishing a kinematic equation of the three-wheeled omnidirectional mobile mechanical arm under the condition of limited movement space by considering the pose limit of the mobile platform and the joint angle limit of the mechanical arm; converting the kinematics equation into a joint nonlinear equation set, and determining a universal form of a three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme; constructing a speed layer criterion capable of realizing repeated movement; constructing a repeated motion planning scheme based on pseudo-inverse description based on a general form of the speed layer motion planning scheme and a speed layer criterion;

The driving module is used for executing the following steps: and the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform according to the calculation result of the repeated motion planning scheme to complete a given end operation task.

Compared with the prior art, the invention has the following beneficial effects:

1. The invention can effectively overcome the defects of the existing method, considers the physical constraint of the mobile mechanical arm (including the pose limit of the mobile platform and the joint angle limit of the mechanical arm), and provides the pseudo-inverse type repeated motion planning method designed on the speed layer, so that the mobile platform and the mechanical arm realize the purpose of repeated motion planning under the condition of limited motion space, and the method has important significance and value for motion planning of the mobile mechanical arm in a complex environment.

2. According to the invention, a pseudo-inverse method is adopted, under the condition that the structure of the mobile mechanical arm is fixed, the angle or the position of the joint can be directly calculated according to the position and the orientation of the end effector after modeling, a large amount of optimal values are not needed in multiple solutions, the realization is easy, and the calculated amount is small.

Drawings

FIG. 1 is a flow chart of the method of the present invention.

Detailed Description

The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.

The embodiment provides a repeated motion planning method of a three-wheeled omnidirectional mobile mechanical arm with limited motion space, which comprises the steps of firstly, modeling according to Denavit-Hartenberg parameter method, and establishing a kinematic equation of the three-wheeled omnidirectional mobile mechanical arm under the condition of limited motion space by considering the pose limit of a mobile platform and the joint angle limit of the mechanical arm; deducing a general form of a speed layer motion planning scheme by adopting an exponential decay formula; a gradient descent formula is adopted to design a speed layer criterion capable of realizing repeated movement; combining a kinematic equation of the mobile platform and a speed layer repetitive motion criterion, and providing a repetitive motion planning scheme based on pseudo-inverse description; and the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform according to the calculation result of the scheme to finish a given end operation task. The repeated motion planning scheme designed by the invention can enable the mobile platform and the mechanical arm with limited motion space to return to respective initial states simultaneously after the task is completed (namely, the three-wheeled omnidirectional redundant mobile mechanical arm realizes repeated motion planning under the condition of limited motion space).

Specifically, as shown in fig. 1, the method comprises the following steps:

Step 1: and establishing a kinematic equation of the three-wheeled omnidirectional mobile mechanical arm under the condition of limited movement space by considering the pose limit of the mobile platform and the joint angle limit of the mechanical arm.

Specifically, for a three-wheeled omnidirectional mobile mechanical arm with limited movement space, performing kinematic modeling according to a Denavit-Hartenberg parameter method, and simultaneously, taking the pose limit of a mobile platform and the joint angle limit of the mechanical arm into consideration to establish a kinematic equation:

wherein f (·) represents a nonlinear mapping function, Joint position vector representing three-wheeled omni-directional mobile robotic arm and defined as/>P _xy∈R² denotes the position of the mobile platform on the XY plane, i.e. the position of the base of the mechanical arm mounted on the mobile platform, φεR denotes the orientation angle of the mobile platform, θ εR ⁿ denotes the joint angle of the mechanical arm, R _d∈R^m denotes the expected motion trail of the end of the mobile mechanical arm in m-dimensional space,/>Indicating the upper and lower limits of the movement space of the mobile robot.

Step 2: and converting the kinematics equation into a joint nonlinear equation set, and determining a general form of a three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme.

Specifically, a non-negative quantity is introduced, a constrained kinematic equation (1) is converted into a joint nonlinear equation set, an exponential decay formula is adopted, and a general form of a three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme is deduced:

Wherein, Represents the joint speed of the mobile robot arm and is defined as/> Representing the rotational angular velocity of the drive wheel of a mobile platform,/>Indicating the joint speed of the mechanical arm; /(I)Representing the time derivative of the state vector v.epsilon.R ^{6 +2n},/>Representing the time derivative of r _d; c e R ^{(6+2n)×(3+n)} represents an augmentation factor matrix and is defined as c= [ -I _3+n;I_3+n],I_3+n∈R^(3+n)×(3+n) represents an identity matrix; d e R ^{(6+2n)×(6+2n)} represents a diagonal matrix and is defined as d=diag { v ₁,v₂,…,v_(6+2n)};d∈R⁶⁺²ⁿ represents an augmentation factor vector and is defined as/>W ε R ^{(m+6+2n)×(9+3n)} represents the augmentation factor matrix and is defined as W= [ JM 0; CM 2D ], J e R ^m×(3+n) represents the jacobian matrix of the mobile robotic arm, M e R ^(3+n)×(3+n) represents the matrix of augmentation coefficients and is defined as m= [ A0; 0I _n],I_n∈R^n×n denotes an identity matrix; a epsilon R ^3×3 is a mobile platform structure parameter coefficient matrix and is expressed as follows:

R epsilon R represents the radius of the omni-directional driving wheel of the mobile platform, and l epsilon R represents the distance from the center point of the mobile platform to the omni-directional driving wheel; w epsilon R ^{(9+3n)×(m+6+2n)} represents the pseudo-inverse of W, I _M∈R^{(9+3n)×(9+3n)} represents the identity matrix, and z epsilon R ⁹⁺³ⁿ represents the speed layer criteria derived from preset optimization criteria to achieve different planning objectives (e.g., repetitive motion).

Step 3: and constructing a speed layer criterion capable of realizing repeated movement by adopting a gradient descent formula.

According to the idea of minimizing the error norm between the current state and the initial state of the three-wheeled omnidirectional mobile mechanical arm, a negative gradient descent formula is adopted to construct a speed layer criterion capable of realizing repeated movement:

Wherein, p _xy0∈R² and phi ₀ epsilon R respectively represent the initial position and initial orientation angle of the mobile platform on the XY plane, and theta ₀∈Rⁿ represents the initial value of the joint angle of the mechanical arm; ρ > 0 ε R represents a design parameter with a smaller preset value (e.g., ρ=0.01), 1 _v∈R⁶⁺²ⁿ represents a vector with all elements 1, and the vector is combined Representing the initial state of the three-wheeled omni-directional mobile manipulator (i.e., the starting state when performing the end planning task).

Step 4: and constructing a repeated motion planning scheme based on pseudo-inverse description based on the general form of the speed layer motion planning scheme and the speed layer criteria.

Combining a kinematic equation of the mobile platform and a speed layer criterion, introducing the speed layer repeated motion criterion (3) into a general form (2) of a speed layer motion planning scheme, namely, letting z=ηHv _RMP, and constructing a three-wheeled omnidirectional mobile mechanical arm repeated motion planning scheme based on pseudo-inverse description:

wherein, eta > 0 epsilon R represents the repeated motion coefficient, H= [ A ^-,0;0,I_N]∈R^{(9+3n)×(9+3n)} ] represents the augmentation coefficient matrix, I _N∈R^{(6+3n)×(6+3n)} represents the identity matrix, and A ^-∈R^3×3 represents the inverse matrix of the mobile platform structural parameter coefficient matrix A.

Step 5: and the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform to finish a given end operation task according to the calculation result of the repeated motion planning scheme.

Specifically, the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform according to the calculation result of the repeated motion planning scheme (4), completes a given end operation task, and realizes repeated motion planning under the condition of limited motion space, namely, the three omnidirectional mobile mechanical arm with limited motion space returns to an initial state after completing the task

The embodiment also provides a three-wheeled omnidirectional mobile mechanical arm repetitive motion planning system with limited motion space, which comprises:

The repeated motion planning module is used for executing the following steps: establishing a kinematic equation of the three-wheeled omnidirectional mobile mechanical arm under the condition of limited movement space by considering the pose limit of the mobile platform and the joint angle limit of the mechanical arm; converting the kinematics equation into a joint nonlinear equation set, and determining a universal form of a three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme; constructing a speed layer criterion capable of realizing repeated movement; constructing a repeated motion planning scheme based on pseudo-inverse description based on a general form of the speed layer motion planning scheme and a speed layer criterion;

The driving module is used for executing the following steps: and the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform according to the calculation result of the repeated motion planning scheme to complete a given end operation task.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the described modules may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by a person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (10)

1. The three-wheeled omnidirectional mobile mechanical arm repeated motion planning method with limited motion space is characterized by comprising the following steps of:

Step 1: establishing a kinematic equation of the three-wheeled omnidirectional mobile mechanical arm under the condition of limited movement space by considering the pose limit of the mobile platform and the joint angle limit of the mechanical arm;

Step 2: converting the kinematics equation into a joint nonlinear equation set, and determining a universal form of a three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme;

step 3: constructing a speed layer criterion capable of realizing repeated movement;

Step 4: constructing a repeated motion planning scheme based on pseudo-inverse description based on a general form of the speed layer motion planning scheme and a speed layer criterion;

step 5: and the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform to finish a given end operation task according to the calculation result of the repeated motion planning scheme.

2. The method for planning repeated motion of three-wheeled omni-directional mobile mechanical arm with limited motion space according to claim 1, wherein the step 1 is specifically: and for the three-wheeled omnidirectional mobile mechanical arm with limited movement space, performing kinematic modeling according to a Denavit-Hartenberg parameter method, and simultaneously, taking the pose limit of the mobile platform and the joint angle limit of the mechanical arm into consideration to establish a kinematic equation.

3. The method for planning repeated motion of three-wheeled omnidirectional mobile manipulator with limited motion space according to claim 2, wherein the kinematic equation is as follows:

wherein f (·) represents a nonlinear mapping function, Joint position vector representing three-wheeled omni-directional mobile robotic arm and defined as/>P _xy∈R² denotes the position of the mobile platform on the XY plane, i.e. the position of the base of the mechanical arm mounted on the mobile platform, φεR denotes the orientation angle of the mobile platform, θ εR ⁿ denotes the joint angle of the mechanical arm, R _d∈R^m denotes the expected motion trail of the end of the mobile mechanical arm in m-dimensional space,/>Indicating the upper and lower limits of the movement space of the mobile robot.

4. The method for planning repetitive motion of three-wheeled omni-directional mobile mechanical arm with limited motion space according to claim 3, wherein the step 2 is specifically: and introducing a non-negative quantity, converting a kinematic equation with constraint into a joint nonlinear equation set, and deducing a general form of a speed layer motion planning scheme of the three-wheeled omnidirectional mobile mechanical arm by adopting an exponential decay formula.

5. The method for planning repetitive motion of a three-wheeled omnidirectional mobile manipulator with limited motion space according to claim 4, wherein the general form of the three-wheeled omnidirectional mobile manipulator speed layer motion planning scheme is represented as:

Wherein, Represents the joint speed of the mobile robot arm and is defined as/>Representing the rotational angular velocity of the drive wheel of a mobile platform,/>Indicating the joint speed of the mechanical arm; /(I)Representing the time derivative of the state vector v.epsilon.R ⁶⁺²ⁿ,/>Representing the time derivative of r _d; c e R ^{(6+2n)×(3+n)} represents an augmentation factor matrix and is defined as c= [ -I _3+n;I_3+n],I_3+n∈R^(3+n)×(3+n) represents an identity matrix; d e R ^{(6+2n)×(6+2n)} represents a diagonal matrix and is defined as d=diag { v ₁,v₂,…,v_(6+2n)};d∈R⁶⁺²ⁿ represents an augmentation factor vector and is defined as/>W ε R ^{(m+6+2n)×(9+3n)} represents the augmentation factor matrix and is defined as W= [ JM0; CM2D ], J e R ^m×(3+n) represents the jacobian matrix of the mobile robotic arm, M e R ^{(3 +n)×(3+n)} represents the matrix of augmentation coefficients and is defined as m= [ A0;0I _n],I_n∈R^n×n denotes an identity matrix; a epsilon R ^3×3 is a mobile platform structure parameter coefficient matrix and is expressed as follows:

R epsilon R represents the radius of the omni-directional driving wheel of the mobile platform, and l epsilon R represents the distance from the center point of the mobile platform to the omni-directional driving wheel; w epsilon R ^{(9+3n)×(m+6+2n)} represents the pseudo-inverse of W, I _M∈R^{(9+3n)×(9+3n)} represents the identity matrix, and z epsilon R ⁹⁺³ⁿ represents the speed layer criteria derived from preset optimization criteria to achieve different planning objectives.

6. The method for planning the repeated motion of the three-wheeled omnidirectional mobile mechanical arm with limited motion space according to claim 5 is characterized in that a negative gradient descent formula is adopted to construct a speed layer criterion capable of realizing the repeated motion according to the idea that the error norm between the current state and the initial state of the three-wheeled omnidirectional mobile mechanical arm is minimized.

7. The method for planning repetitive motion of three-wheeled omni-directional mobile mechanical arm with limited motion space according to claim 6, wherein the speed layer criterion is:

Wherein, p _xy0∈R² and phi ₀ epsilon R respectively represent the initial position and initial orientation angle of the mobile platform on the XY plane, and theta ₀∈Rⁿ represents the initial value of the joint angle of the mechanical arm; ρ > 0 ε R represents a preset design parameter, 1 _v∈R⁶⁺²ⁿ represents a vector with all elements 1, and the vector is combined And the initial state of the three-wheel omni-directional mobile mechanical arm is shown.

8. The method for planning the repetitive motion of the three-wheeled omni-directional mobile manipulator with limited motion space according to claim 7, wherein the step 4 is specifically:

Combining a kinematic equation and a speed layer criterion of the mobile platform, enabling z=ηHv _RMP, and constructing a three-wheeled omnidirectional mobile mechanical arm repeated motion planning scheme based on pseudo-inverse description:

wherein, eta > 0 epsilon R represents the repeated motion coefficient, H= [ A ^-,0;0,I_N]∈R^{(9+3n)×(9+3n)} ] represents the augmentation coefficient matrix, I _N∈R^{(6+3n)×(6+3n)} represents the identity matrix, and A ^-∈R^3×3 represents the inverse matrix of the mobile platform structural parameter coefficient matrix A.

9. The method for planning the repetitive motion of the three-wheeled omni-directional mobile mechanical arm with limited motion space according to claim 1, wherein the step 5 is specifically: the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform according to the calculation result of the repeated motion planning scheme to complete a given end operation task, and realizes repeated motion planning under the condition of limited motion space, namely, the three-wheeled omnidirectional mobile mechanical arm with limited motion space returns to an initial state after completing the task.

10. The utility model provides a three-wheeled omnidirectional mobile mechanical arm repetitive motion planning system with limited movement space which is characterized in that includes:

The repeated motion planning module is used for executing the following steps: establishing a kinematic equation of the three-wheeled omnidirectional mobile mechanical arm under the condition of limited movement space by considering the pose limit of the mobile platform and the joint angle limit of the mechanical arm; converting the kinematics equation into a joint nonlinear equation set, and determining a universal form of a three-wheeled omnidirectional mobile mechanical arm speed layer motion planning scheme; constructing a speed layer criterion capable of realizing repeated movement; constructing a repeated motion planning scheme based on pseudo-inverse description based on a general form of the speed layer motion planning scheme and a speed layer criterion;

The driving module is used for executing the following steps: and the lower computer controller drives the joints of the three omnidirectional wheels and the mechanical arm of the mobile platform according to the calculation result of the repeated motion planning scheme to complete a given end operation task.