Articulated Robot Control Device for Singular Attitude Resolution
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Solution Overview
Problem
Existing control techniques for articulated robots fail to reliably reach desired angles at the work end point when the central drive shaft's signs change between the start and end points, often resulting in angles exceeding operation ranges or not reaching the target due to avoidance of singular attitudes.
Innovation Solution
A control device with interpolation point calculation, driving control, exception condition determination, and exceptional operation means to linearly change drive shaft angles, ensuring they reach the work end point while maintaining position and speed, even if the central drive shaft's signs differ, by setting specific exception conditions such as speed limits or remaining time/distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the manipulator avoids singular attitude by keeping the J5 axis angle sign consistent with the work start point, then the manipulator operates stably without abrupt speed changes, but the J5 axis cannot reach the angle at the work end point when signs differ
Solution Approach 1:
The patent dynamically switches between two different inverse kinematic solutions based on real-time detection of singular attitude conditions. When the J5 axis angle approaches 0 degrees or the J4/J6 axis angles change abruptly, the system transitions from one solution set to the other, allowing the manipulator to pass through the singular region and reach the work end point while maintaining operational stability
2Ease of operation
If the manipulator transitions to the other inverse kinematic solution when near singular attitude, then the J5 axis can reach the work end point angle with different signs, but drive shafts cannot reach the angles at the work end point when operated without coming close to singular point
Solution Approach 1:
The patent implements continuous monitoring of the J5 axis angle and J4/J6 axis speed changes to detect singular attitude conditions. This feedback mechanism triggers a transition to the alternative inverse kinematic solution when singular conditions are detected, ensuring the manipulator can reach the work end point while maintaining consistent position and speed throughout the motion
Data Source
AI summary
The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5). After exception conditions are satisfied (Yes side of S61), until the working parts reach the work completed position (No side of S12), the angle of each of the drive shafts of the first articulated drive system required to vary each of the drive shafts of the first articulated drive system in a linear manner with the angle at the work completed position as a target is calculated (S8), and the angle of each of the drive shafts of the second articulated drive system is calculated on the basis of the position of the working part at the interpolated point calculated in step 5 (S5) and the angle of each of the drive shafts of the first articulated drive system as calculated (S9), and the drive shafts of the first and second articulated drive systems are driven according to said calculation results (S11).