Self-motion planning method and device for three-wheel omni-directional mobile mechanical arm

The invention relates to a three-wheel omni-directional moving mechanical arm self-motion planning method which comprises the steps that S1, a gradient descent formula is adopted, and speed layer indexes of a mechanical arm adjusted from different initial states to an expected state are deduced; s2, tail end positioning errors and feedback of integral of the tail end positioning errors are introduced, and a self-motion planning scheme described in a pseudo-inverse form is designed in combination with a kinematics equation of the mobile platform and the speed layer indexes of S1; s3, the initial state of the mechanical arm is obtained, the initial state is substituted into the self-motion planning scheme for iterative calculation, and the driving wheel rotation angular speed and the joint speed of self-motion planning are obtained; and S4, the rotation angular speed of the driving wheels and the joint speed of the self-motion planning are sent to a lower computer controller of the three-wheel omni-directional