Singular position avoidance method, system and device, and computer readable storage medium

Abstract

The invention provides a singular position avoidance method, system and device, and a computer readable storage medium which are used for controlling a six-joint robot to cross a singular position from a track starting point to move to a track end point. The method comprises the following steps: when the six-joint robot moves to a singular region comprising the singular position, one axis is selected from the three axes related to the singular position for interpolation processing; the positions of the other two axes in the three axes related to the singular position are obtained, and the error functions related to the positions of the other two axes in the three axes related to the singular position are enabled to be the minimum; and according to the positions of the three axes related tothe singular position, the positions of the three axes, except the three axes related to the singular position, in the six-joint robot are obtained. According to the embodiment of the invention, highreal-time performance and low calculation amount are achieved, and no reduction of the Cartesian speed at the tail end, and high track precision in the whole movement process can be ensured.

Description

technical field [0001] The present invention relates to the field of robot control, and more specifically, relates to a singular position avoidance method, system, equipment and computer-readable storage medium. Background technique [0002] The six-joint robot determines the end position and posture of the robot through six rotation axes. The forward kinematics equation is used to establish the relationship between the joint variables and the position and attitude of the end effector, while the inverse kinematics scheme is used to solve the joint variables from the given end position and attitude, which can transform the motion of the robot in Cartesian space For motion in the joint space, the execution of the desired motion is guaranteed. At this stage, inverse kinematics schemes can usually solve closed-form solutions from multiple equations, and some problems that cannot be solved numerically can use iterative methods to obtain analytical solutions. [0003] Usually, t...

AI Technical Summary

Problems solved by technology

[0011] The embodiment of the present invention aims at the above-mentioned damping minimum variance method to realize the singularity avoidance scheme of the six-joint robot that cannot guarantee the tracking accuracy of the robot end in all directions, and based on the problem that the singularity separation scheme requires a large amount of computation, a new singularity position avoidance is provided Method, system, device and computer readable storage medium

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