Abstract
An integrated control method and control apparatus for a mobile composite robot, and a computer-readable storage medium and a mobile composite robot. The integrated control method for a mobile composite robot is characterized in that the mobile composite robot is provided with a moving body (1), a robotic arm (2) and an end effector (3). The integrated control method comprises the following steps: S1, describing a moving body (1), a robotic arm (2), an end effector (3) and an operation object in a unified world coordinate system, constructing a description equation for dynamic characteristics of a mobile composite robot on the basis of the unified world coordinate system, so as to express the motion state and posture of the mobile composite robot, and on the basis of trajectory planning data and the current state data of the robot, describing and expressing a robot calculation model; S2, performing coupling calculation on the basis of the robot calculation model which is obtained in step S1, so as to generate an action instruction for the end effector (3) of the mobile composite robot; and S3, performing decoupling calculation on the basis of the action instruction for the end effector (3) that is obtained in step S2, so as to decouple and decompose the action instruction into a speed control instruction for the moving body (1) of the robot and torque control instructions for joints of the robotic arm (2), and also using dynamic real-time data of the moving body (1) and dynamic real-time data of the robotic arm (2) as feedback amounts and inputting same into the current state data of the robot in step S1.