Coordination control method for mechanical arm and operation platform in final stage of grabbing

The invention discloses a coordination control method for a mechanical arm and an operation platform in the final stage of grabbing. The coordination control method comprises the steps that before the final stage of grabbing, effective data of the last frame of the portion which can be grabbed of an object are obtained through a hand-eye camera at the tail end of the mechanical arm by means of measurement, and under the condition of a posture configuration A of the current operation platform, an expected grabbing posture of the tail end of the mechanical arm under a base coordinate system of the mechanical arm is determined; during the final stage of grabbing, according to operation platform posture information measured by a top on the current operation platform, the variation amount, relative to the configuration A, of a posture configuration B of a new operation platform is calculated, and an expected posture of the tail end of the mechanical arm under the condition of the posture configuration B of the new operation platform is worked out by combining the measurement data of the last frame; and finally the corrective control amount of all joints of the mechanical arm is obtained through the computation of inverse-kinematics, and the mechanical arm is driven to grab the expected object. By means of the coordination control method for the mechanical arm and the operation platform in the final stage of grabbing, it is guaranteed that the pointing posture and position of the platform remain the same in the movement process of the mechanical arm.