A multi-singularity processing method, system and industrial robot

A technology of industrial robots and processing methods, applied in the field of multi-singular point processing methods, systems and industrial robots, can solve problems such as joint movement speed increase, shutdown, production safety, etc., and achieve the effect of avoiding sudden increase

Active Publication Date: 2017-09-22
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of this, the present application provides a multi-singularity processing method, system and industrial robot, which are used to solve the problem of shutdown or production safety caused by the sudden increase in joint motion speed when a multi-joint industrial robot encounters multiple singular points question

Method used

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  • A multi-singularity processing method, system and industrial robot
  • A multi-singularity processing method, system and industrial robot
  • A multi-singularity processing method, system and industrial robot

Examples

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Embodiment 1

[0031] figure 1 It is a flowchart of a multi-singularity processing method provided by the embodiment of the present application.

[0032] The multi-singularity processing method provided in this embodiment is applied to an industrial robot with multiple joints. In this embodiment, an industrial robot with 6 joints is taken as an example to illustrate the technical solution provided by this application.

[0033] Industrial robots usually use the D-H model for structural modeling, and the position and attitude transformation between each two joints can be simulated and calculated using the D-H matrix of four parameters. Therefore, the industrial robot structure with 6 joints in this application is as follows figure 2 shown, and can be represented by six D-H joint transformation matrices:

[0034]

[0035]

[0036] Among them, c i =cos(θ i ),s i =sin(θ i ), i=1,2,...,5,6, θ i is the joint rotation angle of the i-th joint, a i is the link length between joint i and...

Embodiment 2

[0080] image 3 It is a structural block diagram of a multi-singularity processing system provided by the embodiment of the present application.

[0081] Such as image 3 As shown, the multi-singularity processing system provided in this embodiment is applied to an industrial robot with multiple joints. This embodiment takes an industrial robot with 6 joints as an example to illustrate the technical solution provided by this application, specifically including a real-time monitoring module 10. A multi-singularity calculation module 20 and a multi-singularity processing module 30 .

[0082] The real-time monitoring module 10 is used to judge whether the industrial robot is in a multi-singularity state according to the real-time motion data of multiple joints and the preset singular value calculation formula. Specifically, it includes a real-time detection unit 11 , a threshold calculation unit 12 and a singular point judgment unit 13 .

[0083] The real-time detection unit 1...

Embodiment 3

[0120] This embodiment provides an industrial robot with multiple joints, specifically 6 joints. The industrial robot is provided with the multi-singularity processing system provided in the above-mentioned embodiment, which can avoid multiple singular points from appearing simultaneously under the control of the system. This ensures that downtime and safety incidents are avoided.

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Abstract

The invention discloses a multi-singular-point processing method and system and an industrial robot. The method and system are applied to the industrial robot with a plurality of joints. Whether the industrial robot is in the multi-singular-point state or not is judged according to real-time movement data of the multiple joints of the industrial robot and a preset singular value calculating mode; when it is determined that the industrial robot is in the multi-singular-point state, the total singular value amount is calculated; finally, the multiple joints are controlled according to the obtained total singular value, the phenomenon that the multiple singular points appear at the same time is avoided, and the phenomenon that the movement of the joints suddenly becomes vigorously is avoided, so that the problem of halting or production safety caused when the joint movement speed of the industrial robot suddenly becomes large is avoided.

Description

technical field [0001] The present application relates to the field of robot technology, more specifically, to a multi-singularity processing method, system and industrial robot. Background technique [0002] Industrial robots are one of the important components in industrial automation systems. At present, many countries have established their own leading advantages in industrial robot technology, especially in the design of the robot body, the relevant basic technology has been relatively mature, so various manufacturers have begun to invest more energy in the field of robot applications. [0003] The singular point processing method of industrial robots is one of the main technical difficulties in the field of robot applications. The singular point problem is a technical point that industrial robots must encounter. It is related to the structure and is an unavoidable problem. Taking the most common 6-joint industrial robot as an example, it includes at least three kinds...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1694
Inventor 王业率边慧杰赵天光
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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