Singularity avoidance method and device in force-controlled traction process for robot

Abstract

The invention provides a singularity avoidance method and device in a force-controlled traction process for a robot. The method comprises the following steps: calculating the operability indexes of the target robot in real time; determining whether the target robot approaches to a singularity configuration or not according to the operability indexes; and if the target robot is determined to approach to the singularity configuration, calculating a constraint force on the basis of the operability indexes, and additionally applying the constraint force onto the target robot through a driver, so that the target robot avoids the singularity configuration and continues to move under the effect of the constraint force. The method is capable of effectively preventing the robot from arriving at thesingularity configuration, and enabling the force-controlled traction process to be continuously carried out, so that the operation experience of force-controlled traction is improved, the operationefficiency of the force-controlled traction is increased, and the technical problems of low operation efficiency and poor operation experience of force-controlled traction due to the alarming and stopping of a robot, which are caused by that an operator drags the robot to a singularity configuration, are alleviated.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and device for avoiding singularities in the force-controlled traction process of a robot. Background technique [0002] At present, the singularity avoidance of the robot is generally carried out in the position control. When the mechanical arm moves close to the singularity, the robot will stop and give an alarm. Or consider the problem of singularity avoidance when planning the trajectory, so that the generated trajectory is far away from the singularity. [0003] In order to be able to realize the position control of the robot, traction teaching (that is, force-controlled traction) is an essential premise. In the force-controlled traction process of the collaborative robot: first click the traction teaching button on the robot’s teach pendant to make the robot enter the traction state; then the operator grabs the end of the robot and applies a certain force in any di...

AI Technical Summary

Problems solved by technology

[0006] In view of this, the object of the present invention is to provide a method and device for avoiding singularities in the process of force-controlled traction of robots, so as to alleviate the problems caused by the operator pulling the robot into a singular configuration in the process of force-controlled traction of existing robots. The robot alarms and shuts down, resulting in low efficiency of force-controlled traction operations and poor operating experience.

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