The autonomous operation of tracked mobile manipulators in rescue missions requires not only ensuring the reachability and safety of robot motion but also maintaining stable end-effector manipulation under diverse task demands. However, existing studies have overlooked many end-effector motion properties at both the planning and control levels. This paper presents a motion generation framework for tracked mobile manipulators to achieve stable end-effector operation in complex rescue scenarios. The framework formulates a coordinated path optimization model that couples end-effector and mobile base states and designs compact cost/constraint representations to mitigate nonlinearities and reduce computational complexity. Furthermore, an isolated control scheme with feedforward compensation and feedback regulation is developed to enable coordinated path tracking for the robot. Extensive simulated and real-world experiments on rescue scenarios demonstrate that the proposed framework consistently outperforms SOTA methods across key metrics, including task success rate and end-effector motion stability, validating its effectiveness and robustness in complex mobile manipulation tasks.

翻译：履带式移动机械臂在救援任务中的自主运行不仅需要确保机器人运动可达性与安全性，还需在多样化任务需求下维持末端执行器操控稳定性。然而，现有研究在规划与控制层面均忽视了诸多末端执行器运动特性。本文提出一种面向履带式移动机械臂的运动生成框架，旨在复杂救援场景中实现末端执行器的稳定操作。该框架构建了耦合末端执行器与移动基座状态的协同路径优化模型，并设计了紧凑型代价/约束表征以缓解非线性问题并降低计算复杂度。进一步地，本文开发了包含前馈补偿与反馈调节的隔离控制方案，实现机器人协同路径跟踪。大量基于仿真与实际救援场景的实验表明，该框架在任务成功率与末端执行器运动稳定性等关键指标上持续优于SOTA方法，验证了其在复杂移动操控任务中的有效性与鲁棒性。