Singular position avoidance method, system, device and computer-readable storage medium

Abstract

The present invention provides a singular position avoidance method, system, device and computer-readable storage medium, which are used to control a six-joint robot to move across a singular position from the start point of the trajectory to the end point of the trajectory. The method includes: when the six-joint robot moves When reaching a singular area including a singular position, select one axis from the three axes related to the singular position for interpolation processing; obtain the positions of the other two axes in the three axes related to the singular position, such that The error function related to the position of the other two axes among the three axes related to the singular position is the smallest; according to the positions of the three axes related to the singular position, obtain the The position of the three axes other than the three relative to the position. The embodiment of the present invention not only has good real-time performance and a small amount of calculation, but also can ensure that the Cartesian velocity at the end does not decrease during the entire movement process and the trajectory accuracy is high.

Description

technical field [0001] The present invention relates to the field of robot control, and more specifically, relates to a singular position avoidance method, system, equipment and computer-readable storage medium. Background technique [0002] The six-joint robot determines the end position and posture of the robot through six rotation axes. The forward kinematics equation is used to establish the relationship between the joint variables and the position and attitude of the end effector, while the inverse kinematics scheme is used to solve the joint variables from the given end position and attitude, which can transform the motion of the robot in Cartesian space For motion in the joint space, the execution of the desired motion is guaranteed. At this stage, inverse kinematics schemes can usually solve closed-form solutions from multiple equations, and some problems that cannot be solved numerically can use iterative methods to obtain analytical solutions. [0003] Usually, t...

AI Technical Summary

Problems solved by technology

[0011] The embodiment of the present invention aims at the above-mentioned damping minimum variance method to realize the singularity avoidance scheme of the six-joint robot that cannot guarantee the tracking accuracy of the robot end in all directions, and based on the problem that the singularity separation scheme requires a large amount of computation, a new singularity position avoidance is provided Method, system, device and computer readable storage medium

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