Abstract: For the inconvenience of long-distance grabbing by rooots with a fixed base coordinate sysem, set of mobile robotic arm was designed, and a six-degree-of-freedom manipulator with STM32 as the main control unit was installed on the TurtleBot2 mobile robot equipped with Kinect sensor. The path planning, environmental map construction and obstacle avoidance functions, realized by the TurtleBot2 mobile robot and Kinect sensor, were employed to control the movement of the six-degree-of-freedom manipulator. Combining with the manual grasping and automatic grasping, cooperative motion control of mobile robot and manipulator was realized.