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Singularity treatment method for six-degree-of-freedom articulated robot

A processing method and robot technology, applied in the field of singularity processing, can solve the problems of increased joint speed of the robot, shutdown, safety problems, etc., and achieve the effects of simple method, high operability, and improved operation accuracy

Inactive Publication Date: 2020-02-18
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These singular configurations can cause sudden increases in robot joint velocity, which can lead to shutdowns or other safety issues

Method used

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  • Singularity treatment method for six-degree-of-freedom articulated robot
  • Singularity treatment method for six-degree-of-freedom articulated robot
  • Singularity treatment method for six-degree-of-freedom articulated robot

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Effect test

Embodiment 1

[0077] When the starting point p1 and the end point p2 of the robot motion are given, the singularity processing method proceeds as follows:

[0078] Step 1. Use the D-H coordinate system to establish a kinematic model, and perform kinematic forward and inverse solutions.

[0079] Step 2. Perform Cartesian space trajectory planning, the interpolation period is 0.05s, and the total time is 5s.

[0080] Step 3. Carry out kinematic inverse solution for each interpolation point, and obtain each joint angle, angular velocity and angular acceleration.

[0081] Step 4. Use the singularity criterion to determine whether the interpolation point is in the singularity region, Figure 3a , Figure 3b and Figure 3cIt is the trajectory of the joint space without singularity processing. From the figure, we can see the changes of the angle, angular velocity and angular acceleration of each joint of the robot. produce mutations.

[0082] Step 5. Record the angle, angular velocity, and an...

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Abstract

The invention discloses a singularity treatment method for a six-degree-of-freedom articulated robot. The singularity treatment method comprises the following steps that (1) a kinematic model of the robot is built; (2) the six-degree-of-freedom articulated robot is subjected to rectangular coordinate space motion trail planning; (3) interpolating points of a motion trail are subjected to kinematicinverse solution, angles of joints of the robot at the interpolating points are obtained, and the angular speeds and angular acceleration of the joints of the robot at the interpolating points are obtained according to the relation between a jacobi matrix and a cartesian space as well as the relation between the jacobi matrix and a joint space; (4) the joint singularity condition is solved, and asingularity zone is obtained; and (5) the robot is made to smoothly pass through the singularity zone through singularity treatment. According to the singularity treatment method, the problem that the robot is subjected to singularity in the moving process, and thus, the joint angular speed is abruptly changed can be solved, accordingly, the motion smoothness of the robot is improved, and the angles and the angular speeds of the joints of the robot smoothly pass through the singularity zone.

Description

technical field [0001] The invention relates to a singularity processing method of a six-degree-of-freedom articulated robot. Background technique [0002] Singularity is an inherent characteristic of the robot mechanism. When the robot is in a singularity, the Jacobian matrix mapped from the joint space to the workspace for a given manipulator becomes a singularity matrix, so its kinematic inverse cannot be obtained Therefore, various control algorithms based on Jacobi will fail, so that its trajectory control and motion control cannot be realized accurately. Taking the common six-degree-of-freedom articulated robot as an example, there are mainly three kinds of singularities, namely boundary singularity, internal singularity and wrist singularity. Border singularity occurs when joints 2, 3, and 5 are coaxial; internal singularity occurs when joints 1 and 6 are coaxial; and wrist singularity occurs when joints 4 and 6 are coaxial. These singular configurations can cause s...

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 卢剑伟陈新法朱汉子邵浩然郭嘉豪任远凯杨凡钱钧曹剑赵萍
Owner HEFEI UNIV OF TECH
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