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Method of six-DOF industrial robot passing singular region

An industrial robot and degree of freedom technology, which is applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as sudden changes in joint angular velocity and unstable operation

Inactive Publication Date: 2014-07-09
SOUTH CHINA UNIV OF TECH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a method for a six-degree-of-freedom industrial robot to pass through a singular field. Unstable problems, so that the angular displacement and angular velocity of each joint of the robot can smoothly transition through the singular domain

Method used

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  • Method of six-DOF industrial robot passing singular region
  • Method of six-DOF industrial robot passing singular region
  • Method of six-DOF industrial robot passing singular region

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Experimental program
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Embodiment

[0086] like figure 1 As shown, in the offline simulation software, the motion trajectory planning of the industrial robot in Cartesian space is carried out, and the coordinate value of each point in the motion path and the angular displacement, angular velocity and angular acceleration of each joint of the robot at each point are obtained. Calculate the obtained joint variables and judge whether the robot is in the singular domain. If the path of the robot does not pass through the singular domain, it can be directly output. Re-planning, constructing a linear transition function with parabola fitting to realize the smooth transition of the angular displacement and angular velocity of each joint, so as to achieve the purpose of the robot passing through the singular domain smoothly. (When the position and attitude of the robot are measured on mutually orthogonal axes in space, that is, when measured in a Cartesian coordinate system, this space is called Cartesian space. For a s...

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Abstract

The invention discloses a method of a six-DOF industrial robot passing a singular region. The method includes the steps of 1, planning a motion curve of the six-DOF industrial robot in the Cartesian space; 2, subjecting coordinates and attitudes of interpolation points in the motion curve to inverse kinematic solution so as to obtain angular displacements, angular velocities and angular acceleration joint variables of joints of the six-DOF industrial robot at the interpolation points; 3, setting the singular region for the six-DOF industrial robot, calculating the joint variables of the interpolation points, judging whether the interpolation points are in the singular region or not, and if yes, further judging the type of singular configuration; 4, allowing the six-DOF industrial robot to pass the singular region. The method has the advantages that the method is simple and feasible and the problem that at present, the six-DOF industrial robot moves unstably due to abrupt change in the joint angular velocity when the six-DOF industrial robot encounters the singular region is well solved.

Description

technical field [0001] The invention relates to a singular field passing technology in trajectory planning of a six-degree-of-freedom industrial robot, in particular to a method for a six-degree-of-freedom industrial robot to pass through a singular field. Background technique [0002] Singular configuration is an important kinematics characteristic of the robot mechanism. It refers to the corresponding configuration of the manipulator when the reference point of the hand cannot realize small displacement or rotation along any direction in the working space of the manipulator. Singularity is the inherent nature of robots, and the existence of singularity is likely to cause vibration and impact of the mechanical arm. Therefore, it is very important to analyze and study the singularity problem of robots and the method of passing through the singularity domain. The singularity of industrial robots is mainly divided into two types: posture singularity and position singularity. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1664
Inventor 张铁黄晓霞
Owner SOUTH CHINA UNIV OF TECH
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