Method and device for avoiding kinematic singularity points in robot motion planning

A technology of robot motion and kinematics, applied in the field of devices that avoid kinematic singularities, can solve problems such as danger, performance degradation, and practicability

Active Publication Date: 2019-06-04
MECH MIND ROBOTICS TECH LTD
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The singularity will cause the joint rotation speed to be too high when the robot executes the specified path in the space, resulting in reduced performance, reduced practicability, and even possible danger.

Method used

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  • Method and device for avoiding kinematic singularity points in robot motion planning
  • Method and device for avoiding kinematic singularity points in robot motion planning
  • Method and device for avoiding kinematic singularity points in robot motion planning

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Embodiment Construction

[0025] The technical solutions of the present invention will be further described in detail below in conjunction with specific embodiments.

[0026] figure 1 A schematic diagram of a spherical wrist of an industrial robot. Three adjacent rotary joints whose rotating shaft axes intersect at one point of the industrial robot constitute each said spherical wrist. When the absolute value of the joint angle of the second joint of the spherical wrist viewed from the base of the industrial robot to the end effector is close to 0 degrees, the rotation axis of the first joint and the rotation axis of the third joint of the spherical wrist Close to the coincidence, that is, the singular point of the wrist is formed. figure 2 It is a common motion path of an industrial robot with a spherical wrist through a kinematic singularity point, and the singularity of the motion path is caused by the kinematic characteristics of the spherical wrist. image 3 for figure 2 The change curve of ...

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Abstract

The invention relates to a method for avoiding kinematics singularity points in robot motion planning. The method comprises the following steps that a kinematic model of an industrial robot is established; a kinematics inverse solution of path points of a pre-planning path is obtained according to the kinematics model, and a kinematics track of a joint space of the industrial robot is establishedaccording to the obtained kinematics inverse solution; when it is determined that the kinematics track passes through spherical wrist kinematics singularity points, tiny deflection is carried out on the angle of a starting point of the pre-planning path to obtain a new planning path, and then a new kinematics track of the joint space of the industrial robot is established according to the new kinematics inverse solution; when it is determined that the new kinematics track still passes through the spherical wrist kinematics singularity points, the pre-planning path is abandoned to execute; andwhen it is determined that the new kinematics track does not pass through any spherical wrist kinematics singularity point, the new planning path is executed. The invention further relates to a devicefor avoiding the kinematics singularity points in the robot motion planning.

Description

technical field [0001] The present invention relates to a method for avoiding kinematic singularity in robot motion planning, specifically, a method for avoiding kinematic singularity in spherical wrist industrial robot motion planning. The present invention also relates to a device for avoiding kinematic singularity in robot motion planning, in particular, a device for avoiding kinematic singularity in motion planning of a spherical-wrist industrial robot. Background technique [0002] With the continuous improvement of labor costs and the continuous development of industrial robot control, planning, and identification methods, the use of industrial robots to replace manual labor in automated production is getting higher and higher. However, in the current industry, commonly used industrial robots with spherical wrists often encounter kinematic singularities when performing unknown operations in complex environments, which seriously affects their versatility and practicabil...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 樊明祥丁有爽邵天兰
Owner MECH MIND ROBOTICS TECH LTD
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