The invention discloses a
mobile robot multi-
machine self-reconfiguration mechanical arm
system based on
kinematics coupling control and a cooperative control method, and belongs to the field of robots and intelligent manufacturing. The
system comprises a mobile mechanical arm unit, an omnidirectional physical
coupling docking mechanism and an integrated cooperative controller. The mobile mechanical arm unit comprises an omnidirectional
chassis and a multi-joint mechanical arm, the docking mechanism integrates tolerance guidance, rigid locking, force
perception and high-speed communication contacts, and the controller is a multi-core real-time industrial control computer. Multi-
machine rigid combination and high-speed communication are achieved through physical and information
coupling butt joint, an
assembly unified coupling
kinematics / dynamics model is constructed, motion distribution is conducted based on the optimal instantaneous rotation center and
gravity center compensation, and non-internal-force cooperative operation is achieved in combination with distributed
impedance control. The defects that in the prior art, rigidity and flexibility are opposite, dynamic precision is poor, and communication dependence is high are overcome, the synchronization precision reaches the
nanosecond level, the
load capacity is remarkably improved, and the method is suitable for collaborative carrying and precise assembling of large workpieces.