Method and system for controlling singular point of manipulator

Abstract

The present invention relates to a method and system for controlling a singular point of a manipulator, which is used to control a manipulator to pass through a singular area, and the singular area is an area including a singular point. End point information, and inverse kinematics solution, and in the process, insert multiple interpolation points on the straight line formed by the path starting point and path end point; control the end of the robot arm to pass through each interpolation point sequentially along the straight line path toward The end point of the path moves, and the inverse solution result of the next interpolation point is pre-calculated; according to the inverse solution result of the next interpolation point, it is judged whether the manipulator enters the singular area, and when it is determined that the manipulator enters the singular area, the movement of the manipulator is Switch from the movement of the end along a straight-line path to the motion controlled by the axis motion planning algorithm; when it is determined that the manipulator has not entered the singular area, continue to control the end of the manipulator to move along a straight-line path based on the results of the inverse kinematics solution.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to a method and system for controlling a singular point of a manipulator. Background technique [0002] Generally speaking, there is a singularity problem in the operation of the robotic arm. Taking the four-axis SCARA robotic arm as an example, the first, second, and fourth axes have rotational characteristics, and the third axis has linear movement characteristics. The singular point of the robotic arm appears when the angle of the second joint is 0, that is, the state where the two connecting rods are collinear; taking the six-axis 6R robotic arm as an example, it has two more joints than the four-axis robotic arm, and the robotic arm has Three singular points, that is, the first and sixth joints are collinear, the fourth and sixth joints are collinear, and the second, third, and fifth joints are collinear. [0003] However, in the process of realizing the present i...

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a method and system for controlling the singularity of the manipulator, which can solve the problem of the singularity of the manipulator during operation

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