Automated control method for grasping operation path of mobile robotic arm based on Cosserat mechanics theory

In order to solve the problem of low control accuracy in traditional grasping operation path control methods, this paper proposes an automatic control method for mobile robotic arm grasping operation path based on Cosserat mechanics theory. This method first models the kinematics of the mobile robotic arm and determines the nodes of the grasping operation path based on the modeling results. Secondly, using the Cosserat mechanics theory, a path controller was constructed to achieve automatic control of the grasping operation path of the mobile robotic arm. The experimental results show that compared with traditional methods, the method proposed in this paper can significantly improve the automation control accuracy of the operation path of the mobile robotic arm. The values of its Spearman correlation coefficient and calibration ratio are closer to 1, thus achieving better results.