Abstract
A control system and method for a mobile manipulation robot. The control system for a mobile manipulation robot comprises: a mobile manipulation robot controller, a locomotion control module, an integrated control module, a trajectory planning module, a trajectory decomposing and calculating module, an inverse kinematics model, and a decoupling and calculating module, wherein the locomotion control module is configured to control movement of a mobile manipulation robot body in a locomotion control mode; the integrated control module is configured to coordinate and control the movement of the mobile manipulation robot body and motion of a manipulator in an integrated control mode; the trajectory planning module is configured to receive a task instruction from the mobile manipulation robot controller and plan a trajectory; the trajectory decomposing and calculating module is configured to decompose the planned trajectory outputted by the trajectory planning module; the inverse kinematics model is configured to solve modeling descriptions of the locomotion control module and the integrated control module; and the decoupling and calculating module is configured to decouple an amount of output of the modeling description of the integrated control module solved by the inverse kinematics model into an amount of motion.