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

A singular position and singular area technology, applied in the field of systems, singular position avoidance methods, equipment and computer-readable storage media, can solve the problems that the tracking accuracy of the robot end cannot be guaranteed, and the calculation amount is relatively large, so as to achieve good real-time performance, Trajectory accuracy without deceleration, guaranteed limited effect

Active Publication Date: 2021-02-26
SHENZHEN INOVANCE TECH
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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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  • Singular position avoidance method, system and device, and computer readable storage medium
  • Singular position avoidance method, system and device, and computer readable storage medium
  • Singular position avoidance method, system and device, and computer readable storage medium

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Embodiment Construction

[0053] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0054] Such as image 3 As shown, it is a schematic flowchart of the singular position avoidance method provided by the embodiment of the present invention. The singular position avoidance method can be applied to a six-joint robot, and controls the six-joint robot to move from the starting point of the trajectory across the singular position to the end point of the trajectory. The above-mentioned six-joint robot includes three arms, that is, the first arm B1, the second arm B2, and the third arm B3, and the wrist is located at the end of the third arm B3. The above trajectory is a Cartesian space...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 卢意
Owner SHENZHEN INOVANCE TECH
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