A Fast Judgment Method for the Singularity of Redundant Degrees of Freedom Manipulator Arm Configuration

Abstract

The invention discloses a rapid judging method for configuration singularity of a mechanical arm with the redundant degree of freedom. The method is characterized by including the following steps that the tail end speed and the joint angular speed of the mechanical arm with the redundant degree of freedom meet the mapping relation that x=J*q, wherein x represents the tail end speed, q represents the joint angular speed, and J represents the jacobian matrix; the maximum singular value and the minimum singular value of the jacobian matrix are calculated, the specific value of the maximum singular value and the minimum singular value of the jacobian matrix is used as the conditional number, and when the conditional number is greater than a set number, it is determined that the configuration of the mechanical arm has singularity; and in the process of calculating the conditional number of the jacobian matrix, real-time values of the maximum singular value and the minimum singular value are obtained through intermediate result iteration based on generalized inverse calculation, and the requirement for calculating the conditional number in real time is met. By means of the method, the complex calculating problem of obtaining the conditional number of the jacobian matrix through singular value decomposition is solved, and meanwhile the calculating efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a method for quickly judging the configuration singularity of a redundant degree of freedom mechanical arm. Background technique [0002] When the n-degree-of-freedom redundant manipulator reaches a specific joint position, the i-th joint generates the direction of the terminal linear velocity (i=1, 2,...,n) or the i-th joint generates the direction of the terminal angular velocity (i= l, 2, ..., n) are coplanar, and the normal direction of this plane (or the vertical direction of the co-straight line) cannot produce terminal velocity, then it can be said that relative to the normal direction of the plane (or the vertical direction of the co-linear ), the redundant manipulator creates a singularity. [0003] The robotic arm with redundant degrees of freedom is beneficial to avoid singular shapes. Not all odd shapes are avoidable, however. Therefore, it is necessary to analyze and...

AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention provides a method for quickly judging the singularity of the redundant degree of freedom mechanical arm configuration, which solves the complex calculation problem of obtaining the condition number of the Jacobian matrix through singular value decomposition, and at the same time speeds up the calculation efficiency

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