Quick judging method for singular configuration of six-degree-of-freedom mechanical arm

A technology of robotic arms and degrees of freedom, applied in manipulators, manufacturing tools, etc., can solve the problems of large computational load, unfavorable real-time avoidance of singular control of industrial manipulators, etc., to achieve the effect of simple judgment process and guaranteed judgment speed.

Active Publication Date: 2015-03-04
HARBIN ENG UNIV
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Problems solved by technology

The above methods can theoretically obtain the singular value of the Jacobian matrix, but the amount of calculation

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  • Quick judging method for singular configuration of six-degree-of-freedom mechanical arm
  • Quick judging method for singular configuration of six-degree-of-freedom mechanical arm
  • Quick judging method for singular configuration of six-degree-of-freedom mechanical arm

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Embodiment Construction

[0017] The present invention will be described in more detail below in conjunction with accompanying drawing example:

[0018] The judgment idea proposed by this method can be applied to the same type of six-degree-of-freedom manipulator. This method can greatly meet the requirements of speed and accuracy in real-time singularity avoidance control of industrial manipulators.

[0019] Most of the other inventions on this problem are realized by calculating the singular value of the Jacobian matrix, while the method proposed by the present invention applies the plane geometry method to the judgment of the singular configuration of the manipulator. Theoretically, the method proposed by the present invention has no error, which can ensure the judgment accuracy of the singular configuration of the six-degree-of-freedom manipulator, and the judgment process proposed by the present invention is much simpler than obtaining the singular value of the Jacobian matrix , which can ensure ...

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Abstract

The invention belongs to the field of judgment of singular configurations of mechanical arms, in particular relates to a quick judging method for a singular configuration of a six-degree-of-freedom mechanical arm. The method comprises the steps of: reading present angle values of six joints from an angle encoder of the six-degree-of-freedom mechanical arm; judging if the angles of the six joints do not exceed respective actual movement ranges; judging the angle of the third joint; judging the angle of the second joint; and judging the angle of the fifth joint. The method applies a plane geometry method to the judgment of the singular configuration of the mechanical arm. The method theoretically has no errors to guarantee the judgment precision of the singular configuration of the six-degree-of-freedom mechanical arm; and the judgment process of the method is simpler compared with the calculation of a singular value of a jacobian matrix so as to guarantee the judgment speed of the singular configuration of the six-degree-of-freedom mechanical arm.

Description

technical field [0001] The invention belongs to the field of singular configuration judgment of a mechanical arm, and in particular relates to a method for rapidly judging the singular configuration of a six-degree-of-freedom mechanical arm. Background technique [0002] The kinematic singularity of the manipulator is an inherent characteristic of all types of manipulators. Near the singularity point, the determinant of the Jacobian matrix will approach zero infinitely, because the Jacobian matrix reflects the relationship between the tool speed at the end of the manipulator and the angular velocity of each joint. , so when the determinant of the Jacobian matrix tends to zero, the angular velocity of each joint obtained by using the inverse of the Jacobian matrix tends to infinity. In the actual control of the manipulator, try to avoid this situation from happening , otherwise it may cause irreversible damage to the drive motor of the manipulator joint, so the analysis of th...

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Application Information

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IPC IPC(8): B25J13/08
Inventor 朱齐丹王欣璐蔡成涛张智夏桂华林圣琳原新王立辉刘志林
Owner HARBIN ENG UNIV
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