9 results about "Singular configuration" patented technology

The invention relates to the technical field of parallel machine mechanisms, in particular to a position symbol positive solution two-translation and one-rotation parallel robot. The working space of a conventional 2T1R parallel robot is greatly limited by the singular configuration of a mechanism or the rotating capacity of a movable platform is limited, so that the conventional 2T1R parallel robot is difficult to adapt to the machining operation of a large-dip-angle inclined plane. In order to solve the problems, the position symbol positive solution two-translation and one-rotation parallel robot is provided, the topological structure of the position symbol positive solution two-translation and one-rotation parallel robot comprises a static platform, a movable platform, a mixed branch chain I, a simple branch chain II and a simple branch chain III, and the mixed branch chain I, the simple branch chain II and the simple branch chain III are connected with the static platform and the movable platform. The positive solution problem of the position of the mechanism is successfully decoupled, and the motion of any driving revolute pair located on the static platform in the space sub-parallel mechanism in the mixed branched chain determines the translation of the movable platform along the z axis. The two simple branch chains are independently responsible for rotation of the movable platform around the y axis and translation of the movable platform along the x axis. According to the highly-decoupled driving mode, the risks of internal interference and singular configuration are reduced.

This invention discloses a fault-tolerant control method and system for redundant robot joint deadlock faults, relating to the field of robot control technology. First, a nonlinear optimization objective function incorporating hard constraints on the faulty joint is constructed. The search space of the Jacobian matrix is ​​reconstructed in real time on a reduced-dimensional manifold defined by the joint deadlock. Redundant degrees of freedom are used to compensate for the failed joint, driving the remaining healthy joints to avoid singular configurations and confined regions by maximizing the operability index. Subsequently, a two-layer control architecture of "inverse dynamics feedforward perturbation observer compensation" is adopted, using a torque residual filtering algorithm to offset the static friction and residual torque of the deadlocked joint in real time. Finally, composite control commands are generated concurrently. This invention effectively suppresses dynamic abrupt changes caused by joint faults, significantly improving the operational accuracy and operational stability of redundant robots under extreme conditions.

The invention discloses a preset performance trajectory tracking control method and system for a mechanical arm with a singular configuration and a storage medium, and belongs to the technical field of robot control. The method comprises the steps that a first-order state space dynamic model of the mechanical arm is established; based on preset transient and steady-state performance indexes, respectively designing time-varying funnel functions for the position and speed tracking errors, and constructing normalized errors; and directly designing a virtual control signal and a final control torque by using a bilateral obstacle function with a boundary infinity characteristic. According to the method, the problem that a traditional method fails due to input-output mapping degradation and control gain approaching to zero or number change of the mechanical arm under the singular configuration is solved from the control law structure level in an endogenous mode. The method does not need an accurate kinetic model, does not need to avoid a singular region, can achieve high-precision, high-robustness and safe trajectory tracking in a whole working space, and effectively guarantees the transient and steady-state performance of a system.

The application relates to the field of robot technology, in particular to a hybrid processing robot based on a motion-redundant parallel mechanism, which comprises a fixed base, a movable base, a column and a motion-redundant parallel mechanism composed of two PRPU side branches and one PUPR middle branch. The end of the parallel mechanism is connected with a moving platform and a cutter, and the moving platform is provided with two rotating and one moving degrees of freedom. The moving along the X axis is realized through a guide rail pair between the movable base and the fixed base, and the moving along the Z axis is realized through a Z axis screw on the column, so that a five-degree-of-freedom hybrid system is formed. The application effectively avoids the singular configuration of the mechanism by introducing the motion redundancy, significantly increases the rotating capacity and the working space of the moving platform, has the advantages of high rigidity, high precision and high flexibility, and is suitable for efficient processing of complex parts.

The application relates to the technical field of logistics automation, and discloses a through method for singular point areas of a shoulder and a wrist of a spherical-wrist 6R industrial robot, which comprises the following steps: firstly, off-line loading of geometric parameters of the robot and presetting of three types of singular judgment thresholds; continuously collecting and buffering joint angles in a servo cycle; solving end poses by means of homogeneous transformation and synchronously calculating a Jacobian matrix; and parallelly completing three types of singular state detection of the shoulder, the elbow and the wrist. The scheme distinguishes two types of operation branches, i.e. singular and non-singular, closes damping in the non-singular state, adopts a standard Jacobian pseudo-inverse to output a motion instruction, starts adaptive damping correction only when the robot approaches a singular boundary, and solves joint speeds by adapting three types of mainstream control modes. The scheme can completely identify all singular configurations of the robot, avoids singular missed judgment to cause equipment out of control, continuously and real-timely identifies dangerous areas, and avoids the problem of large rotation of multiple axes caused by small end displacement.

The invention discloses a robot singular configuration avoidance control method and device, a storage medium and a system.The robot singular configuration avoidance control method comprises the following steps that S1, a robot kinematics model is established based on a Denavit-Hartenberg parameter method, and the current joint angle of a robot is obtained; s2, calculating based on the current joint angle of the robot to obtain a Jacobian matrix; and S3, adjusting the Jacobian matrix according to the singular avoidance control strategy, calculating to obtain a joint speed, and sending a joint speed instruction based on the joint speed so as to control the robot to move according to the joint speed instruction. According to the technical scheme, the torque tracking precision is improved, particularly, the tracking error is reduced to 0.20 in a singular region, and the error growth rate is reduced to 0.020 s <-1 >.

The present invention discloses a method, system and device for solving the inverse kinematics of a seven-degree-of-freedom manipulator based on numerical iteration. The method comprises the following steps: S1, establishing a D-H kinematic model of the manipulator based on the joint configuration of the seven-degree-of-freedom manipulator; S2, calculating a Jacobian matrix according to a joint angle sequence; S3, introducing a weight matrix to suppress the joint velocity at the edge of the joint range; S4, introducing a damping factor to calculate an optimized Jacobian pseudo-inverse matrix; S5, calculating the posture error between the desired end pose and the current end pose of the manipulator end effector; S6, converting the posture error into a joint angle adjustment using the optimized Jacobian pseudo-inverse matrix to obtain a joint angle iteration formula; S7, determining the joint angles of each rotating joint of the manipulator based on the posture error using a numerical iteration method. The present invention can avoid the problem of instability in solving the traditional analytical method under singular configurations, thereby improving computational efficiency and numerical stability.

The present invention provides a singularity analysis method for a redundant spatial manipulator, comprising: step 1: obtaining the motion spinor coordinates of the manipulator joints and establishing a coordinate system corresponding to the manipulator joints; step 2: using a correlated spinor suppression method to calculate the manipulator singularity conditions based on the manipulator joint motion spinor coordinates and the coordinate system corresponding to the manipulator joints, and obtaining the manipulator singular configuration based on the manipulator singularity conditions; and step 3: performing operability analysis and calculation on the manipulator singular configuration to complete the singularity analysis of the manipulator. The present invention uses spinor theory to establish the motion spinor coordinates of the manipulator joints, uses a correlated spinor suppression method to solve the corresponding basis matrix using the joint motion spinor coordinates, and gradually analyzes the conditions under which the basis matrix is not rank-full to obtain the singularity conditions of the manipulator. This simplifies the complex computational process of singularity analysis and provides a theoretical basis for the kinematic analysis and controller design of the manipulator.

The invention discloses a robot dragging teaching method containing singularity avoidance and boundary constraint, which comprises the following steps of: firstly, establishing a robot direct teaching admittance control model, and realizing functions of adjusting admittance parameters in variable admittance control based on an operation intention of a person and the like; secondly, providing a variable admittance control algorithm for setting virtual repulsive force at the boundary of a task space, and adjusting inertia and damping parameters in admittance according to the magnitude of resultant force formed by combining the teaching force and the virtual repulsive force; thirdly, providing a robot kinematics model based on a damping least square method, setting an operability threshold value as a singular limit, and adjusting a damping factor through the change of the operability when the threshold value is exceeded; and finally, verifying the validity of the algorithm through a robot test. According to the method, the robot can be limited to complete direct teaching only in the set task space, the boundary constraint of the task space is not broken through, the situation that the joint speed is suddenly changed when a singular configuration is approached is handled, and the direct teaching operation safety of the robot is guaranteed.