Method for avoiding singular points of redundant mechanical arm

Abstract

The invention relates to a redundant mechanical arm singular point avoiding method which comprises the following steps: constructing a Jacobian matrix Jq by reducing the dimension of a Jacobian matrix of a redundant mechanical arm; deducing a singular factor ki of the Jacobian square matrix Jq, and solving an inverse matrix of the Jacobian square matrix Jq by using an approximation damping reciprocal method; and solving an inverse kinematics general solution and a special solution of the redundant mechanical arm through an inverse matrix of the Jacobian square matrix Jq, and solving an inverse kinematics weighted item of the redundant mechanical arm by utilizing an optimized gradient projection algorithm to obtain inverse kinematics of the redundant mechanical arm so as to realize singular point avoidance of the redundant mechanical arm. According to the method, singular avoidance of the redundant mechanical arm is achieved through the Jacobian matrix change and the optimized gradient projection method, high real-time performance is achieved, and the real-time requirement of industrial calculation is met; according to the method, the inverse kinematics of the redundant mechanical arm is solved, the track precision of the mechanical arm near the singular point is effectively improved, and the industrial application requirement of the redundant mechanical arm can be met.

Description

technical field [0001] The invention relates to the technical field of redundant manipulator control, in particular to a method for avoiding singular points of redundant manipulators. Background technique [0002] With the increase of the number of axes, the flexibility of the redundant manipulator also increases, which can avoid some specific targets, facilitate the end effector to reach a specific position, and can more flexibly adapt to some special working environments. In the future, in the 3C industry that requires high flexibility, redundant robotic arms will have a role to play. As its precision continues to increase, it will replace manual assembly of precision electronic products such as mobile phones in the near future. [0003] The advantages of redundant manipulators include the following aspects: (1) redundant manipulators can avoid odd heterogeneity, avoid excessive angular velocity movement, and make the angular velocity distribution more uniform; (2) improve...

AI Technical Summary

Problems solved by technology

However, these methods either have a large computational load or cannot be used for non-spherical wrist manipulators since they were proposed for simple manipulators

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