Robot path planning method for passing through wrist singular point

Abstract

The invention discloses a robot path planning method for passing through a wrist singular point. The robot path planning method comprises the following steps that the terminal of a teaching robot is operated and dragged to complete an integrated operation, and the coordinate transformation and kinematics inverse solution of an industrial robot are conducted by collecting path points; when a joint variable value corresponding to a current pose of the industrial robot is in the boundary of a wrist singular zone and a joint variable value corresponding to an original target pose is within the wrist joint singular zone, a fifth shaft and a sixth shaft of a robot are fixedly connected; according to a connecting rod transformational matrix of a third connecting rod coordinate system relative to a basal coordinate system, a product of the connecting rod transformational matrix of a tool coordinate system relative to a connecting rod coordinate system, and a product of the connecting rod transformational matrix of the tool coordinate system relative to the basal coordinate system, a position vector of the third connecting rod coordinate system relative to the basal coordinate system is calculated, and in this way, equations are established and solved to acquire all joint variable values of a processed target pose, and accordingly a path for passing through an accurate position of the wrist singular point can be acquired.

Description

technical field [0001] The invention belongs to the field of industrial robot path planning, and more specifically relates to a robot path planning method that can pass through the singular point of the wrist. Background technique [0002] There are three main methods of path planning for industrial robots: [0003] 1) Teaching planning of the teaching pendant: control the end of the robot to move to the designated position through the joystick and buttons on the teaching pendant, record the pose information, realize point teaching, and then control the robot with simple linear or circular motion commands Simple trajectory movement at the end; [0004] 2) Guidance and teaching planning: the operator moves the end of the main robot to the corresponding position, records the joint angle change through the position sensor and directly transmits it to the slave robot of the same structure, so that it can complete similar movements; [0005] 3) Offline programming planning: Gen...

AI Technical Summary

Problems solved by technology

[0009] In view of the above defects or improvement needs of the prior art, the present invention provides a robot path planning method that can pass through the singular point of the wrist. The path planning method of accurate position, thereby solving the technical problem that the existing industrial robot cannot pass or the cost is high when encountering the singular point of the wrist

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