Robot control method capable of avoiding generation of singular points

A control method and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as inaccurate positioning of steel coils, and achieve the effects of saving costs, preventing unknowable pauses, and avoiding singular points.

Active Publication Date: 2009-10-07
SHANGHAI BAOSIGHT SOFTWARE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] For example, for the steel coil marking device and horizontal coil marking device used in metallurgical enterprises, although not all the marking process of steel coils will have singular point proble

Method used

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  • Robot control method capable of avoiding generation of singular points
  • Robot control method capable of avoiding generation of singular points

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] Such as figure 1 As shown, for the steel coil marking device that needs to be used in metallurgical enterprises, the following methods can be used to control it in order to avoid the occurrence of singularity:

[0041] The first stage is the trial operation stage, in which the following specific operations are performed:

[0042] First, repeat the operation of the coil marking device;

[0043] The second step is to detect the range of possible singular points in the operating space of the steel coil marking device;

[0044] The third step is to classify these possible singular points, calculate the characteristic parameters of the relative theoretical range and corresponding position of the singular points, and then store these related characteristic parameters in the preset database for correction of steel coils The action of marking the official operation of the device. Here, the characteristic parameters refer to the six-dimensional coordinates used and the runnin...

Embodiment 2

[0055] Such as figure 2 As shown, for the steel coil horizontal coil marking device that needs to be used in metallurgical enterprises, since the position of the parallel line of its axis is fixed, according to the present invention, the following methods can be used to control it to avoid the occurrence of singularity the goal of:

[0056] The first stage is the trial operation stage, in which the following operations are performed:

[0057] First, repeat the action of the horizontal coil marking device for steel coils;

[0058] The second step is to detect the range of singular points that may exist in the operating space of the horizontal coil marking device for steel coils;

[0059] The third step is to classify these possible singular points, calculate the characteristic parameters of the relative theoretical range and corresponding position of the singular points, and then store these related characteristic parameters in the preset database for correction of steel coi...

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Abstract

The invention discloses a robot control method capable of avoiding the generation of singular points, which comprises two stages of trial running and normal running of a robot, the executed concrete operation in the stage of trial running of the robot is as follows: the robot repeatedly runs, and portable singular points in a moving track of the robot are determined by check and calculation, and relevant data is stored in a preset database to be used for correcting the action in the normal running of the robot; and the operation in the stage of normal running of the robot is as follows: the results of check and calculation in the practical running process of the robot and the corresponding content in the database are compared to correct the practical running track of the robot to achieve the purpose of avoiding the generation of the singular points.

Description

technical field [0001] The invention relates to a robot control method, in particular to a robot control method capable of avoiding singular points. Background technique [0002] Industrial robots have advantages that traditional mechanical structures cannot or are difficult to replace in many applications. They improve production efficiency and expand the scope of use for users from various aspects such as reusability, positioning accuracy, repeatability, and flexibility. According to the needs of modern industry, today's industrial manufacturing model is becoming more and more sophisticated and flexible. Therefore, under this development trend, industrial robots have been more and more widely used due to their characteristics of good flexibility, strong controllability and high reliability. However, the result of the increased flexibility of industrial robots also leads to an increase in the unknowability of their motions, and because the motions of industrial robots and ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/22
Inventor 朱立强舒飏滕亮戴锡春
Owner SHANGHAI BAOSIGHT SOFTWARE CO LTD
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