Singular point avoiding method and device, equipment and medium

Abstract

An embodiment of the invention discloses a singular point avoiding method, a singular point avoiding device, equipment and a medium. The singular point avoiding method comprises the steps of: acquiring a sampling point in a current planned path, and judging whether the sampling point is arranged in a singular region or not; if the sampling point is arranged in the singular region, selecting at least one candidate interpolation point in a candidate interpolation point region; for each candidate interpolation point, calculating cost values of the candidate interpolation points based on a presetcost function, wherein the cost function is constructed based on a distance consideration function and a motion speed consideration function; and determining a target interpolation point according tothe cost values of the candidate interpolation points, and re-planning a path based on the target interpolation point. According to the singular point avoiding method and the singular point avoiding device, the target interpolation point is selected through comprehensively considering the distance between the candidate interpolation points and the axis of the singular region as well as movement speeds of the candidate interpolation points, so that the determination of the interpolation point is more precise, and a mechanical arm can smoothly and stably avoid the singular point.

Description

technical field [0001] Embodiments of the present invention relate to the field of robot technology, and in particular, to a singularity avoidance method, device, equipment, and medium. Background technique [0002] In the development of a 6-axis robotic arm, it is necessary to install the 6-axis robotic arm on a vertical linear module in the form of a wall mount. In this case, the motion control of the robotic arm will be largely affected by the singularity of the shoulder joint. , may cause the robotic arm to lose the ability to move in a certain direction during the movement. [0003] There are two existing methods for dealing with the singularity of the manipulator: 1. Reciprocal damping method, which helps the manipulator to pass through the singularity point by separating the singularity and setting the reciprocal damping, but when solving the joint angle change near the singularity area, it will show Certain roughness, and this method needs to read the angular veloci...

AI Technical Summary

Problems solved by technology

[0002] In the development of a 6-axis robotic arm, it is necessary to install the 6-axis robotic arm on a vertical linear module in the form of a wall mount. In this case, the motion control of the robotic arm will be largely affected by the singularity of the shoulder joint. , may cause the robot arm to lose its ability to move in a certain direction during the movement

[0003] There are two existing methods for dealing with the singularity of the manipulator: 1. Reciprocal damping method, which helps the manipulator to pass through the singularity point by separating the singularity and setting the reciprocal damping, but when solving the joint angle change near the singularity area, it will show Certain roughness, and this method needs to read the angular velocity and angular acceleration of the joint of the manipulator in real time, which has high requirements for the real-time performance of the processor and communication

2. Set the singular area, and judge whether the interpolated point falls in the singular area during path planning. If it is, discard the point, and if it is not, leave it. However, this method can only ensure that it does not pass through the singular area, and it may happen Due to the large tremor caused by the motion inertia of the robot arm, the pose error is caused

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