Robot singular configuration avoiding admittance control method, device and system

Abstract

The embodiment of the invention provides a robot singular configuration avoiding admittance control method, device and system. The admittance control method comprises the steps that firstly, performance indexes of a target robot are determined according to the current joint angle of the target robot and at least comprise a translation performance index and a rotation performance index, that is, decoupling of translation movement and rotation movement in a cartesian space is achieved; then a virtual constraint deformation quantity and a rigidity vector are determined based on the translation performance index and the rotation performance index; target virtual constraint force is determined based on the virtual constraint deformation quantity and the rigidity vector; and the target joint angle is determined based on the target virtual constraint force. It is known that the scheme adopts a robot jacobian matrix minimum singular value for evaluating the robot performance indexes, so that whether the robot approaches a singular configuration or not is judged; and since the gradient variance of the performance indexes in the scheme is small, jitter can be avoided at the moment when the virtual constraint force is applied in the human-machine interaction process.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an admittance control method, device and system for avoiding singularities of robots. Background technique [0002] With the development of intelligent manufacturing, collaborative robots have been widely used in auxiliary industrial operations, collaborative assembly, housework, entertainment, medical care and other fields. Since humans and robots need to work closely together in the same workspace, safety and reliability during human-robot interactions are of paramount importance. In order to ensure smooth human-computer interaction, robot admittance control is usually used to control robot motion. However, in the process of human-computer interaction, the robot will inevitably have a singular position. When the robot is close to the singular position, it will cause the robot to move unstable or even stop, which will seriously affect the experience of human-computer inte...

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Problems solved by technology

[0006] The inventor found that method 1 is easy to operate, but it greatly affects the experience of human-computer interaction, and the robot needs to be restarted

Although method 2 can make the robot unable to reach the singular position, but using the operability to judge whether the robot is singular, there is a large variance, which will lead to instability in the process of human-computer interaction, and will appear at the moment when the virtual constraint force is applied due to insufficient acceleration. Continuously caused jitter; in addition, this method does not decouple translation and rotation motions, resulting in translation and rotation motions coupled together, which cannot be controlled separately, affecting user experience

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