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Method used for determining all singular configurations of 9-freedom-degree mechanical arm

A technology of manipulators and degrees of freedom, applied in the field of manipulators, can solve problems such as the inability to determine the singular configuration of redundant manipulators, and achieve the effects of high reliability and convenient analysis and calculation

Active Publication Date: 2018-02-02
深圳力合精密装备科技有限公司
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0007] The technical scheme of the present invention overcomes the disadvantage that the prior art cannot determine the singular configuration of the redundant manipulator, and at the same time, it also has the characteristics of convenient analysis and calculation, high reliability, etc.

Method used

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  • Method used for determining all singular configurations of 9-freedom-degree mechanical arm
  • Method used for determining all singular configurations of 9-freedom-degree mechanical arm
  • Method used for determining all singular configurations of 9-freedom-degree mechanical arm

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Embodiment Construction

[0010] The present invention will be further described below in conjunction with the accompanying drawings. It should be pointed out that these illustrations are only exemplary and do not limit the present invention.

[0011] This disclosure will detail a method for determining all singular configurations of a 9-DOF robotic arm. Such as figure 1 As shown, the 9-DOF manipulator is composed of 4 eccentric joints. In order to increase the flexibility of the manipulator, a rotating shaft is added at the end of the manipulator, which makes the 9-DOF manipulator have a certain weight. structure function. In addition, specifically, each eccentric joint has two degrees of freedom perpendicular to each other, so that the 9-DOF manipulator has a higher degree of flexibility.

[0012] This disclosure will employ a screw-based approach to singularity analysis of a robotic arm. The screw can be expressed as the following form

[0013]

[0014] where s and s 0 is the unit helix and...

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Abstract

The invention discloses a method used for determining all singular configurations of a 9-freedom-degree mechanical arm. The 9-freedom-degree mechanical arm is composed of 4 same eccentric joints and an independent joint. The method includes the steps that 6 spinors are selected from 9 spinors forming a jacobian matrix [J]=[$[1], $[2],..,$[k]] of the 9-freedom-degree mechanical arm, and a base sub-matrix is obtained, wherein the base sub-matrix is not a full-rank matrix; a space spinor w is determined and is exchanged with all the joint spinors in the base sub-matrix; by using the condition that the 9-freedom-degree mechanical arm is in the singular configurations, w can also be exchanged with the rest of the 3 joint spinors (please see the formula in the specifications), and all the singular configurations of the 9-freedom-degree mechanical arm are determined in this way.

Description

technical field [0001] The present invention relates to the technical field of robotic arms, and more particularly to a method for determining all singular configurations of a 9-DOF robotic arm consisting of 4 identical eccentric joints and a single joint. Background technique [0002] In practice, when the manipulator is in a certain configuration, it will lose one or more degrees of freedom. At this time, the manipulator is said to be in a singular configuration or a velocity degenerated configuration. Because when the mechanical arm is in a singular configuration, the speed of the end of the mechanical arm is zero in some directions, that is, it loses the ability to move in some directions, resulting in reduced flexibility. [0003] When the arm is close to its singular position, small displacements at the end of the arm require large joint velocities. When such a joint velocity exceeds the drive capability of the joint, it will cause the end trajectory to deviate from t...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1607
Inventor 陶彦博王学谦鲍迪
Owner 深圳力合精密装备科技有限公司
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