Robot Motion Control for Passing Through Singularity Points
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Solution Overview
Problem
Users unaccustomed to handling robot teaching control boards face difficulties in operating robots due to the complexity of avoiding singularity points during motion programming, where inverse kinematic calculations fail, making it hard to control the robot's posture and movement.
Innovation Solution
A control system that includes a posture changing instruction unit, singularity passing motion request unit, and G-code generation unit to instruct the robot to change its posture and generate motion plans to safely pass through singularity points, allowing the robot to operate without requiring inverse kinematic calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If orthogonal jog operation is used for teaching robot position, then the operation is based on easily understandable orthogonal coordinate system, but the robot cannot be moved when passing through singularity points where inverse kinematic calculation fails
Solution Approach 1:
The patent introduces a coordinate system conversion mechanism that acts as an intermediary between the orthogonal coordinate system (easy to operate) and the robot's joint coordinate system (necessary for singularity passage). When singularity is detected, the system automatically converts from orthogonal Jog operation to each-axis Jog operation, allowing the robot to pass through singularity points while maintaining user-friendly operation interfaces.
Solution Approach 2:
The patent dynamically changes the coordinate system parameters based on the robot's operational state. When the robot approaches a singularity point, the system switches from orthogonal coordinate system parameters to joint axis coordinate system parameters, enabling continuous operation through singularity points while maintaining ease of operation.
2Reliability
If each-axis jog operation is used to pass through singularity, then the robot can be controlled through singularity points, but the operation becomes complex and difficult for machine tool users to grasp
Solution Approach 1:
The control device serves as an intermediary that automatically manages the complex each-axis Jog operation. When singularity is detected, the control device transparently switches to each-axis coordinate system control without requiring the user to understand or manually switch coordinate systems, thus maintaining ease of operation while ensuring reliable singularity passage.
Solution Approach 2:
The system performs self-service by automatically detecting singularity points and switching coordinate systems without user intervention. The control device monitors robot position, detects approaching singularity, and autonomously transitions from orthogonal to each-axis Jog operation, relieving the user of the burden of understanding complex robot control concepts.
3Ease of operation
If automatic coordinate system switching is implemented to pass through singularity, then robot motion program can be produced without considering singularity, but the control system complexity increases
Solution Approach 1:
The patent merges the singularity detection function, coordinate system conversion function, and robot control function into an integrated control device. This consolidation manages the complexity internally while presenting a unified, simple interface to the user, allowing automatic singularity passage without increasing the apparent system complexity to the end user.
Data Source
AI summary
A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.