Control method and system for six-joint industrial robot passing through attitude singularity

Abstract

The invention belongs to the field of motion control for industrial robots, and particularly discloses a control method and a system for a six-joint industrial robot passing through an attitude singularity. The control method and the system comprises the following steps that (1) a trajectory in the preset planned route by a robot that an attitude singularity located is intercepted, a position value of the trajectory starting point, a variable value of three rear joints, a position value of an ending point and the variable value of three rear joints; (2) the variable value of three rear joints in the attitude singularity position is obtained by the mean of interpolation; (3) the variable value of three front joints corresponding to the attitude singularity position is evaluated; and (4) the variable value of three rear joints and the variable value of three front joints corresponding to the attitude singularity position are used as a corresponding motion control parameter for the industrial robot in the attitude singularity position, the motion control of the industrial robot is achieved, therefore the six-joint industrial robot is enabled to pass through the attitude singularity smoothly. The control method and the system enable the robot to pass through the attitude singularity smoothly in the premise without changing the original planned route; the control method and the system is simple and practical, and high in calculation efficiency.

Description

technical field [0001] The invention belongs to the field of motion control of industrial robots, and more specifically relates to a control method and system for a six-joint industrial robot passing a singular point of posture. Background technique [0002] The motion control command is to move the tool from one position to another specified position at a specified speed, specific route mode, etc. When using the motion command, it is necessary to specify what motion method to use to control the motion path to the specified position. There are three types of robot motion. Types: joint motion (J), linear motion (L), circular motion (C). The axes of the last three joints of the six-joint industrial robot intersect at one point. When the axes of the fourth joint and the sixth joint of the robot coincide, the motions cancel each other out, and the robot will lose one degree of freedom. The internal singularity of the robot can be called the posture singularity of the robot. Wh...

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Problems solved by technology

[0004] However, further studies have shown that the above method still has the following problems: Although the method of avoiding the singularity of attitude makes the robot pass the path near the singularity of attitude and avoids the singularity of attitude, it changes the original path of the robot and has blindness. , it is necessary to avoid all the attitude singularities of the robot, the operability is not strong, and it also reduces the space range of the robot; the path planning method is to re-plan the path where the attitude singularities are located, and use complex iterative calculations to obtain The analytical solution of the robot joint variables cannot obtain an accurate numerical solution, so that the robot cannot pass the attitude singularity accurately, and the calculation is cumbersome, and the workload is large; although the attitude adjustment method can make the robot accurately pass the attitude singularity, but in coordination During the movement, the robot is in a stop state, which reduces the efficiency of the robot and may cause discontinuous movement speed after coordination, which brings inconvenience to actual production

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