Layering singularity avoidance method of remotely operating mechanical arm

A robotic arm and singularity avoidance technology, applied in the sequence/logic controller in the direction of program control, electrical program control, etc., can solve problems such as the inability to effectively ensure the normal motion trajectory and singularity avoidance.

Active Publication Date: 2018-03-23
HARBIN INST OF TECH
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  • Abstract
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that a single method for avoiding strangeness in the movement process of the existing mecha

Method used

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  • Layering singularity avoidance method of remotely operating mechanical arm
  • Layering singularity avoidance method of remotely operating mechanical arm
  • Layering singularity avoidance method of remotely operating mechanical arm

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Embodiment Construction

[0018] Combine below Figure 1 to Figure 6 This embodiment is described in detail:

[0019] combine figure 1 As shown, the hierarchical method for avoiding singularities of the teleoperated manipulator described in this embodiment comprises the following steps:

[0020] According to the local condition sequence of the singularity degree measurement index of the manipulator, the singularity avoidance layer of the operating state of the manipulator is divided into a healthy state area, a transitional area and a pathological area;

[0021] When the robotic arm is running in a good state area, the movement of the operator at the main end is guided by virtual force feedback;

[0022] When the manipulator is running in the transition area, the traditional trajectory reconstruction method is used to reconstruct the end trajectory of the manipulator;

[0023] When the manipulator is running in the sick area, the trajectory of the end of the manipulator is reconstructed by the impro...

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Abstract

A layering singularity avoidance method of a remotely operating mechanical arm belongs to the field of robot remote operation. The invention aims to solve the problem that in the existing mechanical arm movement process, a single method is adopted to avoid singularity, and the normal motion trail of the mechanical arm cannot be effectively ensured. The singularity avoidance layer of operation state of the mechanical arm is divided into a good region, a transition area and a sick area according to the local condition sequence of a mechanical arm singularity degree measurement index. When the mechanical arm operates in a good area, the movement of an operator of a main end is guided in a virtual force feedback mode; when the mechanical arm operates in the transition area, a traditional trackreconstruction method is adopted to reconstruct the tail end track of the mechanical arm; and when the mechanical arm operates in a sick area, the tail end track of the mechanical arm is reconstructed by adopting an improved track reconstruction method. The method is used for avoiding singularity of a mechanical arm.

Description

technical field [0001] The invention relates to a hierarchical singularity avoidance method for a teleoperation mechanical arm, belonging to the field of teleoperation of robots. Background technique [0002] In the robotic astronaut system, the manipulator is the main control unit, and it is of great significance to solve the kinematics accurately and stably. However, due to the large configuration difference between the master and slave devices, the master operator cannot judge the state of the slave robot arm through its own motion state. Therefore, in the actual operation process, the robot arm is easy to fall into a singular state. [0003] The singular state of the robot arm refers to the phenomenon that the robot arm loses the ability to move in a certain direction during the movement. When the manipulator is close to a singular configuration, even a small change in the Cartesian space will produce a large change in the joint angle after being mapped to the joint spa...

Claims

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Application Information

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IPC IPC(8): G05B19/04
CPCG05B19/04
Inventor 刘宏蒋再男李重阳杨帆
Owner HARBIN INST OF TECH
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