Method for controlling six-axis mechanical arm to pass through singular point

Abstract

The invention belongs to the technical field of mechanical arm control, and particularly discloses a method for controlling a six-axis mechanical arm to pass through a singular point. The method comprises the following steps of (1) adding an auxiliary shaft on a last shaft arm of the six-axis mechanical arm, wherein in a normal state, the auxiliary shaft and the last shaft arm of the six-shaft mechanical arm form a whole to move; (2) after the six-axis mechanical arm receives a motion instruction, planning a tail end path, and carrying out inverse solution calculation according to a tail end pose; (3) judging whether the singular point is passed or not; and (4) if the singular point does not exist, performing inverse solution calculation directly based on the six-axis mechanical arm, and completing the motion instruction according to a calculation result; and if the singular point exists, enabling the auxiliary shaft to take effect, at the moment, converting the six-axis mechanical arm into a seven-axis mechanical arm, and completing the motion instruction through the formed seven-axis mechanical arm. The method is simple in calculation, small in calculation amount, wide in application range and beneficial for the mechanical arm to quickly and effectively pass through the singular point.

Description

technical field [0001] The invention relates to the technical field of mechanical arm control, in particular to a control method for a six-axis mechanical arm passing a singular point. Background technique [0002] The six-axis robotic arm has the advantages of fast speed, flexible movement and high precision, and plays a particularly important role in both the industrial field and the service industry. However, no matter what kind of occasion or type of manipulator, the six-axis manipulator faces the problem of passing the singularity point; near the singularity point, there are countless inverse solutions of the manipulator arm, and there are also infinite speed and load capacity weak problem. [0003] In the prior art, there are many control methods for the six-axis manipulator to pass the singularity point, including the calculation and processing of pure mathematics, such as finding the pseudo inverse of the Jacobian matrix of the position and velocity of the manipulat...

AI Technical Summary

Problems solved by technology

[0004] Regarding the above control method of the six-axis manipulator passing the singular point, there are the following problems: it is impossible to find a better inverse solution so that the six-axis manipulator can pass the singular point smoothly, and if the method of avoiding the singular point will cause the manipulator to fail. Complete the job with the optimal path, and increase the amount of planning calculations, the scope of application is narrow

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