Three-wheeled omnidirectional mobile manipulator repetitive operation planning method, electronic device and medium

Abstract

The present application relates to a kind of three-wheel omni-directional mobile mechanical arm repetitive operation planning method, electronic equipment and medium, method includes the following steps: the performance parameter of three-wheel omni-directional mobile mechanical arm is obtained, performance parameter is input into the repetitive operation planning model constructed in advance, the rotation angle of omni-directional drive wheel, rotation angular velocity and rotation angular acceleration are solved and output, the angle, speed and acceleration of mechanical arm joint, according to the output result, drive omni-directional wheel and the joint of mechanical arm complete the end operation task given to need to be repeated for many times continuously;Repetitive operation planning model is constructed by given end operation task and minimization performance index used to describe repetitive motion, the performance index is according to the performance parameter of three-wheel omni-directional mobile mechanical arm, constructs on acceleration layer.Compared with prior art, repetitive operation is realized on acceleration layer in the present application, and it is suitable for acceleration control, force control and speed control related three-wheel omni-directional mobile mechanical arm.

Description

Technical Field

[0001] This invention relates to the field of motion planning and control technology for mobile robotic arms, and in particular to a method for planning repetitive tasks for a three-wheeled omnidirectional mobile robotic arm, as well as electronic equipment and media. Background Technology

[0002] The three-wheeled omnidirectional mobile robotic arm consists of a mobile platform with three symmetrically distributed omnidirectional drive wheels and a robotic arm with n degrees of freedom. It has attracted widespread attention because it combines the mobility of the platform with the operability of the robotic arm, and is now used in many fields such as material handling, outdoor inspection and fire search and rescue.

[0003] The repeatability of a three-wheeled omnidirectional robotic arm is an important indicator for measuring the effectiveness of end-effector tasks. In particular, for end-effector tasks that need to be performed repeatedly, if the robotic arm can achieve repetitive movements (i.e., there will be no deviation in the position of the moving platform or the joint angle of the robotic arm due to repeated performance of the task), then it can replace humans in performing monotonous, heavy, and potentially dangerous repetitive tasks in different environments, thereby effectively reducing unnecessary labor, lowering costs, and improving efficiency.

[0004] Existing technologies propose various planning methods for repetitive motion of three-wheeled omnidirectional robotic arms designed at the velocity level. However, because these methods are designed at the velocity level, they cannot handle the rotational angular acceleration limits of the mobile platform's drive wheels and the joint acceleration limits of the robotic arm. More importantly, these solutions cannot be directly applied to three-wheeled omnidirectional robotic arms that involve acceleration control or force control, thus greatly limiting their applicability. Summary of the Invention

[0005] The purpose of this invention is to overcome the deficiencies of the prior art by providing a repetitive operation planning method, electronic device and medium for a three-wheeled omnidirectional mobile robotic arm. This invention realizes repetitive operation at the acceleration level and is applicable to three-wheeled omnidirectional mobile robotic arms related to acceleration control, force control and speed control.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] According to a first aspect of the present invention, the present invention provides a method for planning repetitive tasks of a three-wheeled omnidirectional robotic arm, the three-wheeled omnidirectional robotic arm comprising a mobile platform having a plurality of omnidirectional drive wheels and a robotic arm disposed on the mobile platform, the method for planning repetitive tasks comprising the following steps:

[0008] The performance parameters of the three-wheeled omnidirectional mobile robotic arm are obtained, and the performance parameters are input into a pre-constructed repetitive task planning model. The repetitive task planning model is solved, and the rotation angle, rotational angular velocity and rotational angular acceleration of the omnidirectional drive wheel, and the angle, velocity and acceleration of the robotic arm joint are output. Based on the output results, the omnidirectional wheel and the joint of the robotic arm are driven to complete the given end-effector operation task that needs to be repeated multiple times.

[0009] The repetitive task planning model is constructed by giving an end-effector task and minimizing a performance index used to describe the repetitive motion. The performance index is constructed at the acceleration layer based on the performance parameters of the three-wheeled omnidirectional robotic arm.

[0010] Preferably, the expression for the performance index describing repetitive motion is as follows:

[0011]

[0012] In the formula, ||·||2 represents the L2 norm of the vector. and These are the joint acceleration vector and joint velocity vector of the three-wheeled omnidirectional mobile robotic arm, respectively. 'n' represents the number of degrees of freedom of the robotic arm mounted on the mobile platform, and 3 represents the number of omnidirectional drive wheels on the mobile platform. and These represent the acceleration and velocity of the robotic arm joints, respectively. and These represent the acceleration and velocity of the omnidirectional drive wheels of the mobile platform, respectively; D = [I n ,0;0,M]∈R (n+3)×(n+3) Denotes the coefficient matrix, and Let D be the time derivative, M∈R 3×3 This represents a matrix composed of mobile platform structural parameters, and its expression is as follows:

[0013]

[0014] In the formula, σ>0∈R represents the radius of each omnidirectional drive wheel of the mobile platform, d>0∈R represents the distance from the center point of the mobile platform to the omnidirectional drive wheel, φ∈R represents the orientation angle of the mobile platform, and I n ∈R n×n Represents the identity matrix; W = [(α+β)I n+2 ,0;0,α(cos(2φ)+sin(φ0)sin(φ))+β]∈R (n+3)×(n+3) Let α > 0 ∈ R and β > 0 ∈ R represent the performance parameters used to achieve repetitive motion, and numerically satisfy αβ > α + β. n+2 ∈R (n+2)×(n+2)Let R represent the identity matrix, φ0∈R represent the initial value of the orientation angle φ; v=[θ-θ0; p x -p x0 ;p y -p y0 ;cos(φ)(sin(φ)-sin(φ0))]∈R (n+3) Denotes the coefficient vector, θ∈R n Represents the joint angle of the robotic arm, θ0∈R n p represents the initial value of the joint angle θ. x ∈R and p y ∈R represent the positions of the mobile platform in the X and Y axes, respectively, p x0 ∈R and p y0 ∈R represent the positions p of the mobile platform in the X and Y axes, respectively. x and p y The initial value.

[0015] Preferably, the formula describing the repetitive task planning model is as follows:

[0016] minimize

[0017] Constraints:

[0018] θ - ≤θ≤θ + ,

[0019]

[0020]

[0021] ω - ≤ω≤ω + ;

[0022]

[0023]

[0024] Where, J∈R m×(n+3) Let represent the Jacobian matrix of a three-wheeled omnidirectional robotic arm, and Represents the time derivative of J; r∈R m This represents the position vector of the robotic arm's end effector in m-dimensional space. This represents the time derivative of r. express Time derivative; k v >0∈R and k p >0∈R represents the error feedback coefficient, f(·):R n+3 →R mRepresents a nonlinear mapping function. Represents the joint position vector of the three-wheeled omnidirectional robotic arm; ω∈R 3 ω represents the rotation angle of the omnidirectional drive wheels of the mobile platform. ± , θ ± , and These represent the rotation angle ω of the drive wheel and the rotational angular velocity of the drive wheel, respectively. angular acceleration of drive wheel rotation Robotic arm joint angle θ, robotic arm joint speed and the acceleration of the robotic arm joints The upper and lower limits.

[0025] Preferably, the process of solving the repetitive task planning model is as follows:

[0026] The repetitive task planning model is transformed into a quadratic optimization problem. The quadratic optimization problem is then solved using a dual neural network, and the solution is the same as that for the repetitive task planning model.

[0027] Preferably, the formula describing the transformation of the repetitive task planning model into a quadratic optimization problem is as follows:

[0028] Minimize: x T Qx / 2+p T x

[0029] Constraint: Ax = b,

[0030] x - ≤x≤x + ;

[0031] Among them, superscript T Represents the transpose of a matrix or vector. Let the decision variables of the quadratic optimization problem be represented; the expressions for the coefficient matrix and vector are as follows:

[0032]

[0033] x ± This represents the upper and lower limits of the decision variable x. And γ>0∈R represents the limit transformation parameter, υ>0∈R n+3 Indicates the limit conversion margin. This represents the joint angle vector of the three-wheeled omnidirectional robotic arm. Indicates the limit of the joint angle. Indicates the combined velocity limit. This indicates the limit of combined acceleration.

[0034] Preferably, the process of solving the quadratic optimization problem using the primal-dual neural network is as follows:

[0035]

[0036] Among them, y=[x;u]∈R n+3+m Let represent the state vector of the neural network, and Let y be the time derivative, u∈R m Let Ax = b be the dual variable, and η > 0 ∈ R be the design parameter used to adjust the convergence speed of the neural network. p ∈R (n+3+m)×(n+3+m) Let N = [Q, A] represent the identity matrix. T ;A,0]∈R (n+3+m)×(n+3+m) and q = [p; -b] ∈ R (n+3+m) Let F represent the augmented matrix and the augmented vector, respectively. Ω (·) denotes the piecewise linear projection operator.

[0037] Preferably, the performance parameters of the three-wheeled omnidirectional mobile robotic arm include the joint acceleration vector and joint velocity vector of the three-wheeled omnidirectional mobile robotic arm, the number of degrees of freedom of the robotic arm mounted on the mobile platform, the acceleration and velocity of the robotic arm joints, the acceleration and velocity of the rotation angle of the omnidirectional drive wheel, the radius of each omnidirectional drive wheel of the mobile platform, the distance from the center point of the mobile platform to the omnidirectional drive wheel, the orientation angle of the mobile platform, and the number of omnidirectional drive wheels of the mobile platform.

[0038] Preferably, in S3, the controller of the three-wheeled omnidirectional mobile robotic arm drives the omnidirectional wheels of the mobile platform and the joints of the robotic arm in real time to complete the given end-effector operation task.

[0039] According to a second aspect of the present invention, an electronic device is provided, comprising:

[0040] One or more processors; a memory; and one or more programs stored in the memory, the one or more programs including instructions for executing the repetitive task planning method for a three-wheeled omnidirectional mobile robotic arm as described above.

[0041] According to a third aspect of the present invention, a computer-readable storage medium is provided, comprising one or more programs executable by one or more processors of an electronic device, the one or more programs including instructions for performing the repetitive task planning method for a three-wheeled omnidirectional mobile robotic arm as described above.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] This invention provides a repetitive task planning method for a three-wheeled omnidirectional robotic arm. By constructing performance indicators to describe repetitive motion using acceleration, a repetitive task planning model is built and solved. This enables repetitive tasks to be performed at the acceleration level. This method can be directly applied to three-wheeled omnidirectional robotic arms related to acceleration control or force control, and is also applicable to three-wheeled omnidirectional robotic arms related to speed control. Attached Figure Description

[0044] Figure 1 This is a flowchart illustrating a repetitive task planning method for a three-wheeled omnidirectional mobile robotic arm provided in this embodiment. Detailed Implementation

[0045] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0046] According to a first aspect of the invention, reference is made to Figure 1 As shown, this embodiment provides a method for planning repetitive tasks of a three-wheeled omnidirectional robotic arm, which is used to plan the repetitive tasks of the three-wheeled omnidirectional robotic arm. The three-wheeled omnidirectional robotic arm includes a mobile platform with multiple omnidirectional drive wheels and a robotic arm mounted on the mobile platform, and includes the following steps:

[0047] S1: Obtain the performance parameters of the three-wheeled omnidirectional mobile robotic arm, including the joint acceleration vector and joint velocity vector of the three-wheeled omnidirectional mobile robotic arm, the number of degrees of freedom of the robotic arm mounted on the mobile platform, the acceleration and velocity of the robotic arm joints, the acceleration and velocity of the rotation angle of the omnidirectional drive wheel, the radius of each omnidirectional drive wheel of the mobile platform, the distance from the center point of the mobile platform to the omnidirectional drive wheel, the orientation angle of the mobile platform, and the number of omnidirectional drive wheels of the mobile platform;

[0048] S2: Input the performance parameters into the pre-built and solved repetitive task planning model, and output the rotation angle, rotational angular velocity and rotational angular acceleration of the three omnidirectional drive wheels of the mobile platform, and the angle, velocity and acceleration of the robotic arm joints;

[0049] The repetitive task planning model is constrained by the acceleration layer matrix equation, the rotation angle limit, rotational angular velocity limit, and rotational angular acceleration limit of the three omnidirectional drive wheels of the mobile platform, and the angle limit, velocity limit, and acceleration layer limit of the robotic arm joints. The construction process includes the following steps:

[0050] S201a: Based on the performance parameters, a performance index to describe repetitive motion is constructed on the acceleration layer using the idea of ​​exponential decay; the expression for the performance index describing repetitive motion is shown below:

[0051]

[0052] In the formula, ||·||2 represents the L2 norm of the vector. and These are the joint acceleration vector and joint velocity vector of the three-wheeled omnidirectional mobile robotic arm, respectively. 'n' represents the number of degrees of freedom of the robotic arm mounted on the mobile platform, and '3' represents the number of omnidirectional drive wheels on the mobile platform. and These represent the acceleration and velocity of the robotic arm joints, respectively. and These represent the acceleration and velocity of the omnidirectional drive wheels of the mobile platform, respectively; D = [I n ,0;0,M]∈R (n+3)×(n+3) Denotes the coefficient matrix, and Let D be the time derivative, M∈R 3×3 This represents a matrix composed of mobile platform structural parameters, and its expression is as follows:

[0053]

[0054] In the formula, σ>0∈R represents the radius of each omnidirectional drive wheel of the mobile platform, d>0∈R represents the distance from the center point of the mobile platform to the omnidirectional drive wheel, φ∈R represents the orientation angle of the mobile platform, and I n ∈R n×n Represents the identity matrix; W = [(α+β)I n+2 ,0;0,α(cos(2φ)+sin(φ0)sin(φ))+β]∈R (n+3)×(n+3) Let α > 0 ∈ R and β > 0 ∈ R represent the performance parameters used to achieve repetitive motion, and numerically satisfy αβ > α + β. n+2 ∈R (n+2)×(n+2) Let R represent the identity matrix, φ0∈R represent the initial value of the orientation angle φ; v=[θ-θ0; p x -p x0 ;p y -p y0 ;cos(φ)(sin(φ)-sin(φ0))]∈R (n+3) Denotes the coefficient vector, θ∈R n Represents the joint angle of the robotic arm, θ0∈R n p represents the initial value of the joint angle θ. x ∈R and p y ∈R represent the positions of the mobile platform in the X and Y axes (i.e., the positions where the robotic arm is mounted on the mobile platform), respectively, p x0 ∈R and p y0 ∈R represent the positions p of the mobile platform in the X and Y axes, respectively.x and p y The initial value.

[0055] S201b: Minimize the performance metrics used to describe repetitive motion, and construct a repetitive job planning model based on a given end-point operation task that needs to be repeated multiple times.

[0056] The formula describing the repetitive task planning model is shown below:

[0057] minimize

[0058] Constraints:

[0059] θ - ≤θ≤θ + ,

[0060]

[0061]

[0062] ω - ≤ω≤ω + ;

[0063]

[0064]

[0065] Where, J∈R m×(n+3) Let represent the Jacobian matrix of a three-wheeled omnidirectional robotic arm, and Represents the time derivative of J; r∈R m This represents the position vector of the robotic arm's end effector in m-dimensional space. This represents the time derivative of r. express Time derivative; k v >0∈R and k p >0∈R represents the error feedback coefficient, f(·):R n+3 →R m Represents a nonlinear mapping function. Represents the joint position vector of the three-wheeled omnidirectional robotic arm; ω∈R 3 ω represents the rotation angle of the omnidirectional drive wheels of the mobile platform. ± , θ ± , and These represent the rotation angle ω of the drive wheel and the rotational angular velocity of the drive wheel, respectively. angular acceleration of drive wheel rotation Robotic arm joint angle θ, robotic arm joint speed and the acceleration of the robotic arm joints The upper and lower limits.

[0066] It should be noted that, This corresponds to the end-effector task that the three-wheeled omnidirectional robotic arm needs to perform repeatedly in the operating space.

[0067] The solution process for the repetitive task planning model includes the following steps:

[0068] S202a: Transform the repetitive job planning model into a quadratic optimization problem:

[0069] Minimize: x T Qx / 2+p T x

[0070] Constraint: Ax = b,

[0071] x - ≤x≤x + ;

[0072] Among them, superscript T Represents the transpose of a matrix or vector. Let the decision variables of the quadratic optimization problem be represented; the expressions for the coefficient matrix and vector are as follows:

[0073]

[0074] x ± This represents the upper and lower limits of the decision variable x. And γ>0∈R represents the limit transformation parameter, υ>0∈R n+3 Indicates the limit conversion margin. This represents the joint angle vector of the three-wheeled omnidirectional robotic arm. Indicates the limit of the joint angle. Indicates the combined velocity limit. This indicates the limit of combined acceleration.

[0075] S202b: Solving quadratic optimization problems using primal-dual neural networks:

[0076]

[0077] Among them, y=[x;u]∈R n+3+m Let represent the state vector of the neural network, and Let y be the time derivative, u∈R m Let Ax = b be the dual variable, and η > 0 ∈ R be the design parameter used to adjust the convergence speed of the neural network. p ∈R(n+3+m)×(n+3+m) Let N = [Q, A] represent the identity matrix. T ;A,0]∈R (n+3+m)×(n+3+m) and q = [p; -b] ∈ R (n+3+m) Let F represent the augmented matrix and augmented vector, respectively. Ω (·) denotes the piecewise linear projection operator.

[0078] Given an initial value y(0)∈R n+3+m By using the evolution calculation of the original dual neural network (13), the optimal solution of the quadratic optimization problem can be obtained, which is the optimal solution of the repetitive task planning model: including the rotation angle, rotational angular velocity and rotational angular acceleration of the three omnidirectional drive wheels of the mobile platform, as well as the angle, velocity and acceleration of the robotic arm joints.

[0079] S3: Based on the output, the controller of the three-wheeled omnidirectional mobile robotic arm drives the omnidirectional wheels of the mobile platform and the joints of the robotic arm in real time to complete the given end-effector operation task.

[0080] According to a second aspect of the present invention, this embodiment provides an electronic device, comprising:

[0081] One or more processors; a memory; and one or more programs stored in the memory, the one or more programs including instructions for executing the repetitive task planning method for a three-wheeled omnidirectional mobile robotic arm as described above.

[0082] According to a third aspect of the present invention, this embodiment provides a computer-readable storage medium including one or more programs executable by one or more processors of an electronic device, the one or more programs including instructions for performing the repetitive task planning method for a three-wheeled omnidirectional mobile robotic arm as described above.

[0083] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0084] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for planning repetitive tasks of a three-wheeled omnidirectional robotic arm, used to plan repetitive tasks of the three-wheeled omnidirectional robotic arm, wherein the three-wheeled omnidirectional robotic arm includes a mobile platform having multiple omnidirectional drive wheels and a robotic arm mounted on the mobile platform, characterized in that, The repetitive job planning method includes the following steps: The performance parameters of the three-wheeled omnidirectional mobile robotic arm are obtained, and the performance parameters are input into a pre-constructed repetitive task planning model. The repetitive task planning model is solved, and the rotation angle, rotational angular velocity and rotational angular acceleration of the omnidirectional drive wheel, and the angle, velocity and acceleration of the robotic arm joint are output. Based on the output results, the omnidirectional wheel and the joint of the robotic arm are driven to complete the given end-effector operation task that needs to be repeated multiple times. The repetitive task planning model is constructed by giving an end-effector task and minimizing a performance index used to describe the repetitive motion. The performance index is constructed on the acceleration layer based on the performance parameters of the three-wheeled omnidirectional robotic arm. The expression for the performance index describing repetitive motion is as follows: In the formula, The L2 norm of a vector. and These are the joint acceleration vector and joint velocity vector of the three-wheeled omnidirectional robotic arm, respectively. This indicates the number of degrees of freedom of the robotic arm mounted on the mobile platform. Indicates the number of omnidirectional drive wheels on the mobile platform. and These represent the acceleration and velocity of the robotic arm joints, respectively. and These represent the acceleration and velocity of the omnidirectional drive wheel rotation angle of the mobile platform, respectively. Denotes the coefficient matrix, and express Time derivative, This represents a matrix composed of mobile platform structural parameters, and its expression is as follows: In the formula, This represents the radius of each omnidirectional drive wheel of the mobile platform. This represents the distance from the center point of the mobile platform to the omnidirectional drive wheels. Indicates the orientation angle of the mobile platform. Represents the identity matrix; Represents the coefficient matrix. and This represents the performance parameters used to achieve repetitive motion and which satisfy the following numerical conditions. , Represents the identity matrix. Indicates the direction angle The initial value; Represents the coefficient vector. This indicates the joint angles of the robotic arm. Indicates joint angle initial value, and These represent the positions of the mobile platform along the X and Y axes, respectively. and These represent the positions of the mobile platform along the X and Y axes, respectively. and The initial value; The formula describing the repetitive task planning model is shown below: in, Let represent the Jacobian matrix of a three-wheeled omnidirectional robotic arm, and express The time derivative; Indicates the end effector of the robotic arm at Position vector in 3D space express Time derivative, express The time derivative; and Indicates the error feedback coefficient. Represents a nonlinear mapping function. This represents the joint position vector of the three-wheeled omnidirectional robotic arm; This indicates the rotation angle of the omnidirectional drive wheels of the mobile platform; , , , , and These represent the rotation angles of the drive wheels. angular velocity of drive wheel Angular acceleration of drive wheel rotation Robotic arm joint angle Robotic arm joint speed and the acceleration of the robotic arm joints The upper and lower limits.

2. The method for planning repetitive operations of a three-wheeled omnidirectional mobile robotic arm according to claim 1, characterized in that, The process of solving the repetitive task planning model is as follows: The repetitive task planning model is transformed into a quadratic optimization problem. The quadratic optimization problem is then solved using a dual neural network, and the solution is the same as that for the repetitive task planning model.

3. The method for planning repetitive tasks of a three-wheeled omnidirectional mobile robotic arm according to claim 2, characterized in that, The formula that describes the transformation of the repetitive task planning model into a quadratic optimization problem is: Among them, superscript Represents the transpose of a matrix or vector. Let the decision variables of the quadratic optimization problem be represented; the expressions for the coefficient matrix and vector are as follows: ； Representing decision variables The upper and lower limits, , , and Indicates the limit transformation parameter. Indicates the limit conversion margin. This represents the joint angle vector of the three-wheeled omnidirectional robotic arm. Indicates the limit of the joint angle. Indicates the combined velocity limit. This indicates the limit of combined acceleration.

4. The method for planning repetitive operations of a three-wheeled omnidirectional mobile robotic arm according to claim 3, characterized in that, The process of solving the quadratic optimization problem using the original-dual neural network is as follows: in, Let represent the state vector of the neural network, and express Time derivative, express The corresponding dual variable, These represent the design parameters used to adjust the convergence speed of the neural network. Represents the identity matrix. and Let them represent the augmented matrix and the augmented vector, respectively. This represents the piecewise linear projection operator.

5. The method for planning repetitive tasks of a three-wheeled omnidirectional mobile robotic arm according to claim 1, characterized in that, The performance parameters of the three-wheeled omnidirectional mobile robotic arm include the joint acceleration vector and joint velocity vector of the three-wheeled omnidirectional mobile robotic arm, the number of degrees of freedom of the robotic arm mounted on the mobile platform, the acceleration and velocity of the robotic arm joints, the acceleration and velocity of the rotation angle of the omnidirectional drive wheel, the radius of each omnidirectional drive wheel of the mobile platform, the distance from the center point of the mobile platform to the omnidirectional drive wheel, the orientation angle of the mobile platform, and the number of omnidirectional drive wheels of the mobile platform.

6. The method for planning repetitive operations of a three-wheeled omnidirectional mobile robotic arm according to claim 1, characterized in that, The controller of the three-wheeled omnidirectional robotic arm drives the omnidirectional wheels of the mobile platform and the joints of the robotic arm in real time to complete a given end-effector task.

7. An electronic device, characterized in that, include: One or more processors; Memory; and one or more programs stored in a memory, the one or more programs including instructions for executing the repetitive task planning method for a three-wheeled omnidirectional mobile robotic arm as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, It includes one or more programs that are executed by one or more processors of an electronic device, the one or more programs including instructions for executing the repetitive task planning method for a three-wheeled omnidirectional mobile robotic arm as described in any one of claims 1 to 6.

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