WO2024044975A1

WO2024044975A1 - Control method and apparatus for mobile robotic arm

Info

Publication number: WO2024044975A1
Application number: PCT/CN2022/115904
Authority: WO
Inventors: 陈斌; 王子健; 范顺杰
Original assignee: 西门子股份公司; 西门子（中国）有限公司
Priority date: 2022-08-30
Filing date: 2022-08-30
Publication date: 2024-03-07

Abstract

Provided in the present invention is a control method for a mobile robotic arm. The mobile robotic arm comprises a movable chassis and an arm body mounted on the movable chassis, wherein the movable chassis is provided with an inertial measurement unit and a range finder, and the arm body is provided with a camera. The method comprises: acquiring a motion signal, which is provided by an inertial measurement unit, of a movable chassis, and parsing the motion signal to obtain a first movement signal of the movable chassis and a vibration signal of same; acquiring a second movement signal sensed by a range finder, and fusing the first movement signal and the second movement signal to obtain a synthesized movement signal of the movable chassis; and according to the vibration signal, the synthesized movement signal and an image collected by the camera, performing path planning on the mobile robotic arm, and controlling the arm body according to a path planning result.

Description

Control method and device for mobile robotic arm

Technical field

The present invention mainly relates to the field of mechanical automation, and in particular, to a control method and device for moving a robotic arm.

Background technique

Mobile robotic arms are widely used in the manufacturing industry and are mainly used to process workpieces in an agile manner. Typical application scenarios include moving workpieces. Mobile robotic arms usually include a mobile chassis and an arm body. The mobile chassis and arm body are controlled by two controllers respectively. When the arm body is working, the mobile chassis must stop and hold, or conversely, when the mobile chassis moves, the arm body must stop. And keep it. One reason is that the vibration generated by the movement of the mobile chassis will cause the arm to shake, making it impossible to pick up or process the workpiece stably and accurately. Another reason is that the accuracy of the mobile chassis is far less than that of the arm. For this reason, the arm The body must be stopped and repositioned every time before processing the workpiece. This situation seriously reduces the work efficiency of the mobile robotic arm and limits the application scenarios of the mobile robotic arm. One solution is to introduce machine vision as the outer loop feedback control of the arm controller to compensate for the error caused by the moving chassis. However, this method requires reducing the moving speed of the mobile manipulator and ideal ground conditions, otherwise the imaging and target object The detection effect is not good.

Contents of the invention

In order to solve the above technical problems, the present invention provides a control method and device for a mobile robotic arm to compensate for errors caused by the movement of the mobile chassis. The mobile chassis and the arm body can move accurately at the same time, improving the working efficiency of the mobile robotic arm and expanding the Application scenarios of mobile robotic arms.

In order to achieve the above object, the present invention proposes a control method for a mobile robotic arm. The mobile robotic arm includes a mobile chassis and an arm body installed on the mobile chassis. The mobile chassis is provided with an inertia measurement unit and a measurement unit. A distance meter, a camera is provided on the arm, and the method includes: acquiring the movement signal of the mobile chassis provided by the inertial measurement unit, and parsing the first movement signal of the mobile chassis based on the movement signal. and vibration signals; obtain the second movement signal sensed by the rangefinder, fuse the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis; according to the vibration signal, the The synthetic movement signal and the image collected by the camera are used to plan the path of the mobile robotic arm, and the arm body is controlled according to the result of path planning. For this reason, by sensing the vibration and movement of the mobile chassis, the vibration and movement of the mobile chassis can be compensated when the arm moves. The arm can stably perform tasks without stopping the mobile chassis, improving the work efficiency of the mobile robotic arm. , Expand the application scenarios of mobile robotic arms.

Optionally, fusing the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis includes: converting the first movement signal and the second movement signal into the same coordinate system, The first movement signal is corrected using the second movement signal as a reference in the same coordinate system to obtain a composite movement signal of the mobile chassis. To this end, by fusing the first movement signal and the second movement signal, a more accurate movement signal of the mobile chassis can be obtained.

Optionally, before performing path planning on the mobile manipulator according to the vibration signal, the synthetic movement signal and the image collected by the camera, it further includes: coordinating the vibration signal, the synthetic movement signal and the camera The sampling rate of the collected images. To this end, the efficiency of signal processing can be improved, thereby improving the working efficiency of the mobile robotic arm.

Optionally, the mobile manipulator further includes a first controller and a second controller, and the method includes: in the first controller based on the vibration signal, the synthesized movement signal and the image information collected by the camera A path is planned for the mobile robotic arm, and the second controller controls the arm body according to the result of the path planning. To this end, there is no need to change the structure of the controller itself, which improves the efficiency of hardware development.

The invention also proposes a control device for a mobile robotic arm. The mobile robotic arm includes a mobile chassis and an arm body installed on the mobile chassis. The mobile chassis is provided with an inertial measurement unit and a rangefinder. A camera is provided on the arm, and the device includes: a first acquisition module that acquires the motion signal of the mobile chassis provided by the inertial measurement unit, and analyzes the first movement of the mobile chassis based on the motion signal. signal and vibration signal; the second acquisition module acquires the second movement signal sensed by the rangefinder, and fuses the first movement signal and the second movement signal to obtain a synthetic movement signal of the mobile chassis; control A module that performs path planning on the mobile robotic arm according to the vibration signal, the synthetic movement signal and the image collected by the camera, and controls the arm body according to the result of path planning.

Optionally, the second acquisition module fuses the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis including: combining the first movement signal and the second movement signal Convert to the same coordinate system, and correct the first movement signal based on the second movement signal in the same coordinate system to obtain a composite movement signal of the mobile chassis.

Optionally, before the control module performs path planning for the mobile manipulator based on the vibration signal, the synthetic movement signal and the image collected by the camera, it further includes: coordinating the vibration signal, the synthetic movement signal and the sampling rate of images collected by the camera.

Optionally, the mobile manipulator further includes a first controller and a second controller, and the device includes: in the first controller based on the vibration signal, the synthesized movement signal and the camera collected The image information is used to plan a path for the mobile robotic arm, and the second controller controls the arm body according to the result of the path planning.

The invention also proposes a mobile mechanical arm. The mobile mechanical arm includes a mobile chassis and an arm body installed on the mobile chassis. The mobile chassis is provided with an inertial measurement unit and a rangefinder. The arm body A camera is provided on the mobile manipulator, and the mobile manipulator also includes a controller configured to: obtain the motion signal of the mobile chassis provided by the inertial measurement unit, and analyze the mobile chassis based on the motion signal. The first movement signal and vibration signal; obtain the second movement signal sensed by the rangefinder, and fuse the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis; according to the The vibration signal, the synthetic movement signal and the image collected by the camera perform path planning on the mobile robotic arm, and the arm body is controlled according to the result of path planning.

Optionally, the controller includes a first controller and a second controller. The first controller controls the mobile manipulator according to the vibration signal, the synthesized movement signal and the image information collected by the camera. Perform path planning, and the second controller controls the arm body according to the result of path planning.

The present invention also proposes an electronic device, including a processor, a memory and instructions stored in the memory, wherein when the instructions are executed by the processor, the above method is implemented.

The present invention also proposes a computer-readable storage medium on which computer instructions are stored, which execute the method as described above when executed.

The present invention also proposes a computer program product, which is characterized in that it includes a computer program that implements the above method when executed by a processor.

Description of drawings

The following drawings are only intended to schematically illustrate and explain the present invention and do not limit the scope of the present invention. in,

Figure 1 is a flow chart of a control method for a mobile robotic arm according to an embodiment of the present invention;

Figure 2 is a schematic diagram of an application scenario of a mobile robotic arm according to an embodiment of the present invention;

Figure 3 is a functional block diagram of a mobile robotic arm according to an embodiment of the present invention;

Figure 4 is a schematic diagram of a control device for a mobile robotic arm according to an embodiment of the present invention;

Figure 5 is a schematic diagram of an electronic device according to an embodiment of the present invention.

Explanation of reference signs

100 Control method of mobile robotic arm

Steps 110-130

21Mobile robotic arm

201 mobile chassis

202 arm body

203 Inertial Measurement Unit

204 cameras

205 controller

205a decomposition unit

205b fusion unit

205c image processing unit

205d sampling coordination unit

205e Path Planning Unit

206 rangefinder

207 walking unit

208 fixture

410 first acquisition module

420 second acquisition module

430 control module

500 Electronic Equipment

510 processor

520 memory

Detailed ways

In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention will now be described with reference to the accompanying drawings.

Many specific details are set forth in the following description to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, so the present invention is not limited to the specific embodiments disclosed below.

As shown in this application and claims, words such as "a", "an", "an" and/or "the" do not specifically refer to the singular and may include the plural unless the context clearly indicates an exception. Generally speaking, the terms "comprising" and "comprising" only imply the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or apparatus may also include other steps or elements.

Figure 2 is a schematic diagram of an application scenario of a mobile robotic arm according to an embodiment of the present invention. As shown in Figure 2, the application scenario includes a mobile robotic arm 21 and a workpiece 22. The mobile robotic arm 21 includes a mobile chassis 201 and an arm. The body 202 is provided with a walking unit 207 under the mobile chassis 201 so that the mobile robot arm 21 can move. A rangefinder 206 (not shown) is also provided on the mobile chassis 201 for measuring the displacement of the mobile chassis 201. The rangefinder 206 may be an odometer or a laser radar. The mobile chassis 201 is provided with an inertial measurement unit 203 for sensing the acceleration signal and angular velocity signal of the mobile chassis 201 . The arm body 202 is installed on the mobile chassis 201. A typical arm body 202 can have six degrees of freedom to flexibly grasp the workpiece 22. A camera 204 is installed on the arm body 202. The camera 204 can collect environmental images for environmental perception and processing. The target workpiece is identified from the environment image, and an expandable clamp 208 is provided at the end of the arm body 202 to clamp and lower the workpiece 22 .

The present invention proposes a control method for a mobile robotic arm. Figure 1 is a flow chart of a control method 100 for a mobile robotic arm according to an embodiment of the present invention. The following is a combination of Figures 1 and 2 in the embodiment of the present invention. The control method of the mobile robot arm is explained. As shown in Figure 1, the method 100 includes:

Step 110: Obtain the motion signal of the mobile chassis provided by the inertial measurement unit, and analyze the first motion signal and vibration signal of the mobile chassis based on the motion signal.

The inertial measurement unit (IMU) is a combination of a gyroscope and an accelerometer. The gyroscope is used to sense the three-axis angular velocity signal of the mobile chassis 201, and the accelerometer is used to sense the three-axis acceleration signal of the mobile chassis. These two can be used. The third signal calculates the motion signal of the mobile chassis through the attitude fusion algorithm, and separates the first motion signal and the vibration signal in the motion signal through frequency characteristics. The first motion signal can be the displacement value and speed value of the mobile chassis in time series, The vibration signal may be a time series of vibration amplitude and speed values of the moving chassis.

Figure 3 is a functional block diagram of a mobile robotic arm according to an embodiment of the present invention. As shown in Figures 2 and 3, the inertial measurement unit 203 senses the three-axis angular velocity signal and the three-axis acceleration signal of the mobile chassis. The axis angular velocity signal and the three-axis acceleration signal are calculated as motion signals through the posture fusion algorithm. The motion signals are sent to the separation unit 205a in the controller 205. The separation unit 205a separates the first movement signal and vibration of the mobile chassis 201 through frequency characteristics. signals, where the first movement signal is sent to the fusion module 205b and the vibration signal is sent to the sampling coordination unit 205d.

Step 120: Obtain the second movement signal sensed by the rangefinder, and fuse the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis.

The rangefinder 206 may be an odometer and/or a lidar, and is used to sense the second movement signal of the mobile chassis 201. The second movement signal is sent to the fusion unit 205b of the controller 205, and the fusion unit 205b fuses the rangefinder. By using the sent second movement signal and the first movement signal of the mobile chassis separated by the separation unit 205a, a more accurate synthetic movement signal of the mobile chassis 201 can be obtained.

In some embodiments, fusing the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis includes: converting the first movement signal and the second movement signal into the same coordinate system, and using the second movement signal in the same coordinate system. The movement signal is used as a reference to correct the first movement signal to obtain a composite movement signal of the mobile chassis. Taking lidar as a rangefinder as an example, the second moving signal sensed by lidar is more accurate and the signal points are scattered, but the measured distance is relative to the feature points. The first moving signal obtained by the inertial measurement unit is more accurate. Slightly worse, the signal points are dense, but the measurement distance is relative to the mobile chassis itself. By fusing the first mobile signal and the second mobile signal, a more accurate motion signal of the mobile chassis can be obtained. Specifically, the first mobile signal and the second mobile signal are transformed into the same coordinate system. The sampling points of the first mobile signal are relatively dense, and the sampling points of the second mobile signal are relatively discrete. Taking the sampling points of the second mobile signal as a benchmark, Weighting calculation is performed on the first mobile signal and the second mobile signal, thereby realizing the fusion of the first mobile signal and the second mobile signal.

Step 130: Plan the path of the mobile robotic arm based on the vibration signal, the synthetic movement signal and the image collected by the camera, and control the arm body according to the result of the path planning.

The camera 204 collects environmental images in real time, and the environmental images are sent to the image processing unit 205c. The image processing unit 205c performs filtering, noise reduction, target recognition and other processing on the environmental images. The path planning unit 205e acquires the vibration signal separated by the separation unit 205a, the synthetic movement signal provided by the fusion unit 205b, and the image signal processed by the image processing unit 205c, calculates the vibration information, movement information and image information, and uses a path planning algorithm according to the vibration information, Mobile information and image information collected by the camera are used to plan the path of the mobile robotic arm. The path planning algorithm can be PRM path planning algorithm (random road map algorithm) or RRT algorithm (rapidly expanding random tree algorithm), etc., and then the arm is planned according to the planned path. For this reason, by sensing the vibration and movement of the mobile chassis, the vibration and movement of the mobile chassis can be compensated when the arm moves. The arm can perform tasks stably without stopping the mobile chassis, improving mobile machinery. The working efficiency of the arm expands the application scenarios of the mobile robotic arm.

In some embodiments, before planning the path of the mobile manipulator based on the vibration signal, the synthetic movement signal, and the image collected by the camera, it also includes: coordinating the sampling rate of the vibration signal, the synthetic movement signal, and the image collected by the camera. Specifically, as shown in Figure 5, the controller 205 also includes a sampling coordination unit 205d. Since the vibration signal, the synthetic movement signal and the image collected by the camera have different sampling rates, the sampling coordination unit 205d receives the vibration signal, the synthetic movement signal and After the image collected by the camera is coordinated, the vibration signal, the synthesized movement signal and the sampling rate of the image collected by the camera are determined, that is, the frequency and timing of sending these signals to the path planning unit 205e are determined. To this end, the efficiency of signal processing can be improved, thereby improving mobile The efficiency of the robotic arm.

In some embodiments, the mobile robotic arm further includes a first controller and a second controller, and the method includes: performing path planning on the mobile robotic arm in the first controller based on the vibration signal, the synthesized movement signal, and the image information collected by the camera, And the second controller controls the arm body according to the result of path planning. Specifically, the first controller is a controller used to control the mobile chassis, and the second controller is a controller used to control the arm body, that is, the controller of the mobile chassis and the arm body itself. In the first controller according to the vibration signal , synthesize the mobile signals and the images collected by the camera to plan the path of the mobile robotic arm, and control the arm body according to the results of the path planning in the second controller. To this end, there is no need to change the structure of the controller itself, which improves the efficiency of hardware development. efficiency.

An embodiment of the present invention proposes a control method for a mobile robotic arm. By sensing the vibration and movement of the mobile chassis, the vibration and movement of the mobile chassis can be compensated when the arm moves. The arm does not need to stop when the mobile chassis stops. It can perform tasks stably, improve the work efficiency of the mobile robotic arm, and expand the application scenarios of the mobile robotic arm.

The invention also proposes a control device for a mobile robotic arm. The mobile robotic arm includes a mobile chassis and an arm body installed on the mobile chassis. The mobile chassis is provided with an inertial measurement unit and a rangefinder, and the arm body is provided with a camera. Figure 4 is a schematic diagram of a control device 400 for a mobile robot arm according to an embodiment of the present invention. As shown in Figure 4, the device 400 includes:

The first acquisition module 410 acquires the motion signal of the mobile chassis provided by the inertial measurement unit, and analyzes the first motion signal and vibration signal of the mobile chassis based on the motion signal;

The second acquisition module 420 acquires the second movement signal sensed by the rangefinder, and fuses the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis;

The control module 430 performs path planning on the mobile robotic arm based on the vibration signal, the synthesized movement signal, and the images collected by the camera, and controls the arm body based on the results of the path planning.

In some embodiments, the second acquisition module 420 fuses the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis including: converting the first movement signal and the second movement signal to the same coordinate system, in the same coordinate system The system corrects the first movement signal based on the second movement signal to obtain a composite movement signal of the mobile chassis.

In some embodiments, before the control module 430 performs path planning on the mobile manipulator based on the vibration signal, the synthetic movement signal, and the image collected by the camera, it also includes: coordinating the sampling rate of the vibration signal, the synthetic movement signal, and the image collected by the camera.

In some embodiments, the mobile manipulator further includes a first controller and a second controller. The device 400 includes: the first controller performs path planning on the mobile manipulator based on the vibration signal, the synthesized movement signal, and the image information collected by the camera. , and the second controller controls the arm body according to the results of path planning.

The invention also proposes a mobile robotic arm 21. The mobile robotic arm 21 includes a mobile chassis 201 and an arm body 202 installed on the mobile chassis 201. The mobile chassis 201 is provided with an inertial measurement unit 203 and a rangefinder 206. The arm body 202 is provided with a camera 204, and the mobile robot arm 21 also includes a controller 205, which is characterized in that the controller 205 is configured as:

Obtain the movement signal of the mobile chassis provided by the inertial measurement unit, and analyze the first movement signal and vibration signal of the mobile chassis based on the movement signal;

Obtain the second movement signal sensed by the rangefinder, and fuse the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis;

The path planning of the mobile robotic arm is carried out based on the vibration signal, the synthetic movement signal and the images collected by the camera, and the arm body is controlled based on the results of the path planning.

In some embodiments, the controller 205 includes a first controller and a second controller. The first controller performs path planning on the mobile manipulator based on vibration signals, synthetic movement signals, and image information collected by the camera. The second controller performs path planning on the mobile robot arm based on The result of path planning controls the arm body.

The present invention also provides an electronic device 500. FIG. 5 is a schematic diagram of an electronic device 500 according to an embodiment of the present invention. As shown in FIG. 5 , the electronic device 500 includes a processor 510 and a memory 520 . The memory 520 stores instructions, and when the instructions are executed by the processor 510 , the method 100 as described above is implemented.

The present invention also proposes a computer-readable storage medium on which computer instructions are stored, and when executed, the computer instructions execute the method 100 as described above.

The present invention also proposes a computer program product, which includes a computer program that implements the method 100 as described above when executed by a processor.

Some aspects of the method and device of the present invention may be executed entirely by hardware, may be entirely executed by software (including firmware, resident software, microcode, etc.), or may be executed by a combination of hardware and software. The above hardware or software may be referred to as "data block", "module", "engine", "unit", "component" or "system". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLCs), field programmable gate arrays (FPGAs), processors , controller, microcontroller, microprocessor or combination thereof. Additionally, aspects of the invention may be embodied as a computer product embodied in one or more computer-readable media, the product including computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes, etc.), optical disks (e.g., compact disks (CD), digital versatile disks (DVD), ...), smart cards and flash memory devices (e.g. cards, sticks, key drives...).

A flowchart is used here to illustrate operations performed by methods according to embodiments of the present application. It should be understood that the preceding operations are not necessarily performed in exact order. Instead, the various steps can be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or a step or steps may be removed from these processes.

It should be understood that although this specification is described in terms of various embodiments, not each embodiment only contains an independent technical solution. This description of the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole. , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

The above descriptions are only illustrative embodiments of the present invention and are not intended to limit the scope of the present invention. Any equivalent changes, modifications and combinations made by those skilled in the art without departing from the concept and principles of the present invention shall fall within the scope of protection of the present invention.

Claims

A control method (100) for a mobile robotic arm. The mobile robotic arm includes a mobile chassis and an arm body installed on the mobile chassis. The mobile chassis is provided with an inertial measurement unit and a rangefinder. The arm A camera is provided on the body, and the characteristic is that the method (100) includes:

Obtain the movement signal of the mobile chassis provided by the inertial measurement unit, and parse the first movement signal and vibration signal of the mobile chassis based on the movement signal (110);

Obtain the second movement signal sensed by the rangefinder, and fuse the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis (120);

Perform path planning for the mobile robotic arm based on the vibration signal, the synthetic movement signal, and the image collected by the camera, and control the arm body according to the results of path planning (130).
The method (100) according to claim 1, characterized in that fusing the first mobile signal and the second mobile signal to obtain a composite mobile signal of the mobile chassis includes: combining the first mobile signal and The second movement signal is converted to the same coordinate system, and the first movement signal is corrected in the same coordinate system with the second movement signal as a reference to obtain a composite movement signal of the mobile chassis.
The method (100) according to claim 1, characterized in that, before performing path planning on the mobile manipulator according to the vibration signal, the synthetic movement signal and the image collected by the camera, it further includes: coordinating the The vibration signal, the synthetic movement signal and the sampling rate of the image collected by the camera.
The method (100) according to claim 1, characterized in that the mobile robot arm further includes a first controller and a second controller, and the method (100) includes: in the first controller according to the vibration The signal, the synthetic movement signal and the image information collected by the camera perform path planning on the mobile robotic arm, and the second controller controls the arm body according to the result of path planning.
A control device (400) for a mobile robotic arm. The mobile robotic arm includes a mobile chassis and an arm body installed on the mobile chassis. The mobile chassis is provided with an inertial measurement unit and a rangefinder. The arm There is a camera on the body, characterized in that the device (400) includes:

The first acquisition module (410) acquires the motion signal of the mobile chassis provided by the inertial measurement unit, and parses the first motion signal and vibration signal of the mobile chassis according to the motion signal;

The second acquisition module (420) acquires the second movement signal sensed by the rangefinder, and fuses the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis;

The control module (430) performs path planning on the mobile robotic arm according to the vibration signal, the synthetic movement signal and the image collected by the camera, and controls the arm body according to the results of path planning.
The device (400) according to claim 5, characterized in that the second acquisition module (420) fuses the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis including : Convert the first movement signal and the second movement signal to the same coordinate system, and correct the first movement signal with the second movement signal as a reference in the same coordinate system to obtain the movement Synthetic movement signal of the chassis.
The device (400) according to claim 5, characterized in that the control module (430) performs path planning on the mobile robotic arm based on the vibration signal, the synthetic movement signal and the image collected by the camera. The previous step also includes: coordinating the sampling rate of the vibration signal, the synthetic movement signal and the image collected by the camera.
The device (400) according to claim 5, characterized in that the mobile robot arm further includes a first controller and a second controller, and the device (400) includes: when the first controller operates according to the The vibration signal, the synthetic movement signal and the image information collected by the camera perform path planning on the mobile robotic arm, and the second controller controls the arm body according to the result of path planning.
A mobile robotic arm (21). The mobile robotic arm (21) includes a mobile chassis (201) and an arm body (202) installed on the mobile chassis (201). The mobile chassis (201) is provided with There is an inertial measurement unit (203) and a rangefinder (206). The arm body (202) is provided with a camera (204). The mobile robotic arm (21) also includes a controller (205), which is characterized by: The controller (205) is configured as:

Obtain the movement signal of the mobile chassis provided by the inertial measurement unit, and parse the first movement signal and vibration signal of the mobile chassis based on the movement signal;

Obtain the second movement signal sensed by the rangefinder, and fuse the first movement signal and the second movement signal to obtain a composite movement signal of the mobile chassis;

Perform path planning on the mobile robotic arm based on the vibration signal, the synthetic movement signal and the image collected by the camera, and control the arm body based on the results of path planning.
The mobile robot arm (21) according to claim 9, characterized in that the controller (205) includes a first controller and a second controller, the first controller is based on the vibration signal, the The movement signal and the image information collected by the camera are synthesized to perform path planning for the mobile robotic arm, and the second controller controls the arm body according to the result of path planning.
An electronic device (500), including a processor (510), a memory (520) and instructions stored in the memory (520), wherein the instructions when executed by the processor (510) implement as claimed The method described in any one of 1-5.
A computer-readable storage medium having computer instructions stored thereon which, when executed, perform the method (100) according to any one of claims 1-5.
A computer program product, characterized by comprising a computer program which, when executed by a processor, implements the method (100) of any one of claims 1-5.