Method and device for avoiding singularities in the process of robot force-controlled traction

Abstract

The present invention provides a singularity avoidance method and device in the process of force-controlled traction of a robot. The method includes: calculating the operability index of the target robot in real time; determining whether the target robot is close to a singular configuration according to the operability index; When the target robot is close to the singular configuration, the constraint force is calculated based on the operability index, and an additional constraint force is applied to the target robot through the driver, so that the target robot can continue to move away from the singular configuration under the action of the constraint force. This method can effectively prevent the robot from reaching the singular configuration, so that the process of force-controlled traction can be carried out continuously, which improves the operation experience of force-controlled traction, improves the operation efficiency of force-controlled traction, and alleviates the difficulty of force-controlled traction for existing robots. During the traction process, the robot alarms and shuts down due to the operator pulling the robot into a singular configuration, resulting in low efficiency of the force-controlled traction operation and poor operating experience.

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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