CN105415363B - Robot singular point processing method - Google Patents
Robot singular point processing method Download PDFInfo
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- CN105415363B CN105415363B CN201510992864.0A CN201510992864A CN105415363B CN 105415363 B CN105415363 B CN 105415363B CN 201510992864 A CN201510992864 A CN 201510992864A CN 105415363 B CN105415363 B CN 105415363B
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- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Abstract
The invention discloses a kind of gearshift, robot and robot singular point processing method, gearshift to include：For the first displacement bar (8) for connecting the end flange (9) of robot and making the end flange (9) along its linear movement；The second displacement bar (7) moved linearly along first displacement bar (8)；Moved linearly along the second displacement bar (7), the triple motion bar (6) of the driving end for connecting robot body；The end flange (9) is mutually perpendicular to relative to the direction of linear motion of first displacement bar (8), first displacement bar (8) relative to the direction of linear motion and the second displacement bar (7) of the second displacement bar (7) relative to the direction of linear motion of the triple motion bar (6).Gearshift provided by the invention, improves the accuracy of robot work, also, avoids robot and occur the problem of excessive velocities at singular point.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot singular point processing method.
Background technology
Industrial robot is one of part important in industrial automation system.The processing method of industrial robot singular point
It is exactly one of most important technology in robot application technology.Singular point problem is the technology point that industrial robot necessarily runs into,
Once robot runs into the state of singular point, the phenomenon that joint motions speed becomes big suddenly will occur for robot, so as to cause
Robot, which is shut down, even brings production safety problem, so the control technology of robot needs to evade or handle singular point.
On singular point position, joint motions speed mistake can be all not only produced in singular point peripheral region for unusual dotted state
The problem of big.Nearer apart from singular point position, joint motions speed is bigger.In robot running, joint motions speed
During too fast situation, robot needs to make speed-down action, or even needs shutdown to handle, and has a great influence.
At present, conventional singular point transition method is DLS (Damped least-squares, damping minimum variance) side
Method, in singular point transient process, accumulated error is inevitably brought, reduce the precision of robot work.And apply
Number be CN103802114A patent document, disclose a kind of industrial robot singular point processing method and processing device.But work as machine
When device people moves to singular point peripheral region and does not move to singular point threshold value, however it remains cause to shut down out because of excessive velocities
The problem of wrong.
Therefore, how accuracy is improved, avoids occurring the problem of excessive velocities at singular point, be those skilled in the art
Urgent problem to be solved.
The content of the invention
In view of this, the invention provides a kind of gearshift, accuracy is improved, avoids occurring speed mistake at singular point
The problem of fast.The invention also discloses a kind of robot with upper displacement apparatus and robot singular point processing method.
To achieve the above object, the present invention provides following technical scheme：
A kind of gearshift, including：For connecting the end flange of robot and making the end flange along its linear fortune
The first dynamic displacement bar；The second displacement bar moved linearly along first displacement bar；Make along the second displacement bar linear
Motion, the triple motion bar of the driving end for connecting robot body；
The end flange is relative to the direction of linear motion of first displacement bar, first displacement bar relative to institute
State second displacement bar direction of linear motion and the second displacement bar relative to the triple motion bar direction of linear motion
It is mutually perpendicular to.
Preferably, in upper displacement apparatus, in the triple motion bar, the second displacement bar and first displacement bar
Two be slide rail, remaining one is linear telescopic device.
Preferably, in upper displacement apparatus, the triple motion bar and the second displacement bar are slide rail；The second
Bar is moved to be slideably positioned on the triple motion bar；
First displacement bar is linear telescopic device, and it is slideably positioned on the second displacement bar, its drive end with
The end flange connection.
Preferably, in upper displacement apparatus, the linear telescopic device is linear electric motors or cylinder.
Any one of present invention also offers a kind of robot, including robot body and end flange, in addition to as described above
Described gearshift；
The end flange is connected with first displacement bar, the driving end of the robot body with described 3rd
Move bar connection.
Preferably, in above-mentioned robot, the robot body includes passing sequentially through the pedestal of joint connection, the first company
Bar, second connecting rod, third connecting rod, fourth link and the 5th connecting rod；
The described one end of 5th connecting rod away from the fourth link is the driving end of the robot body.
Preferably, in above-mentioned robot, multiple mounting holes for installation tool are provided with the end flange.
Present invention also offers a kind of robot singular point processing method, is filled using the displacement described in any one as described above
Put, including step：
1) by the articulation of robot to initial angle position, bring into operation robot linear motion programmed instruction；
2) judge whether the robot enters singular point region, if it is, entering in next step；If not, the machine
People continues proper motion；
3) on the premise of institute's displacement apparatus is not considered, calculate the revolute using singular point transition algorithm and close
Save the angle that next interpolation cycle needs to move：
The end for drawing the robot is solved by current kinetic position p1To precalculated position p2Between motion vector
4) end of calculating robot is from initial position p1To moving target position p3Need the motion that is moved along a straight line to
AmountThe motion vector of compensation campaign is
WillIt is decomposed into the move distance of three mutually orthogonal directions
The first displacement bar, second displacement bar and the triple motion bar of control institute displacement apparatus move linearly respectively, transport
Dynamic distance respectively d7、d8And d9；
Trajectory planning is carried out according to interpolation cycle and interpolation algorithm, and sends interpolation signal to actuator and is moved；
5) judge whether robot leaves singular point region：If singular point region is not left, into step 3)；Such as
Fruit leaves singular point region, then enters in next step；
6) singular point processing is terminated.
Preferably, in above-mentioned robot singular point processing method, step is also included between the step 5) and the step 6)
It is rapid 56)：
After robot leaves singular point region progress proper motion, the displacement on institute's displacement apparatus is set to return
Zero.
Preferably, in above-mentioned robot singular point processing method, the displacement resetting method on institute's displacement apparatus is：
561) according to the move distance of line slideway on the first displacement bar, second displacement bar and triple motion bar
WithCalculate
562) from current kinetic position p5To moving target position p6Motion vectorBefore gearshift is not considered
Put the end movement position p of robot4To position p6Motion vector be
563) trajectory planning is carried out according to interpolation cycle and interpolation algorithm, and sends interpolation signal to actuator and transported
It is dynamic.
It can be seen from the above technical scheme that gearshift provided by the invention, by setting the first displacement bar, second
Displacement bar and triple motion bar, three orthogonal direction of linear motion are made it have, reach space displacement mode, in order to
Reach and motion is compensated in singular point transient process to robot, improve the accuracy of robot work, also, avoid
There is the problem of excessive velocities at singular point in robot.
Present invention also offers a kind of robot and its robot singular point processing method, has same with upper displacement apparatus
The technique effect of sample, is no longer discussed in detail herein.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of robot provided in an embodiment of the present invention；
Fig. 2 is the schematic flow sheet of robot singular point processing method provided in an embodiment of the present invention；
Fig. 3 is the structural representation of compensation campaign provided in an embodiment of the present invention；
Fig. 4 is the decomposing schematic representation of the motion vector of compensation campaign provided in an embodiment of the present invention；
Fig. 5 is the structural representation of gearshift provided in an embodiment of the present invention zero motion.
Embodiment
The invention discloses a kind of gearshift, improves accuracy, avoids occurring the problem of excessive velocities at singular point.
The invention also discloses a kind of robot with upper displacement apparatus and robot singular point processing method.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1 is refer to, Fig. 1 is the structural representation of robot provided in an embodiment of the present invention.
The embodiments of the invention provide a kind of gearshift, including：For connecting the end flange 9 of robot and making end
First displacement bar 8 of the flange 9 along its linear movement；The second displacement bar 7 moved linearly along the first displacement bar 8；Along second
Move bar 7 to move linearly, the triple motion bar 6 of the driving end for connecting robot body；End flange 9 is relative to first
The direction of linear motion of displacement bar 8, the first displacement bar 8 relative to second displacement bar 7 direction of linear motion and second displacement bar 7
It is mutually perpendicular to relative to the direction of linear motion of triple motion bar 6.
Gearshift provided in an embodiment of the present invention, by setting the first displacement bar 8, second displacement bar 7 and triple motion
Bar 6, three orthogonal direction of linear motion are made it have, reaches space displacement mode, robot is existed in order to reach
Motion is compensated in singular point transient process, improves the accuracy of robot work, also, avoids robot unusual
There is the problem of excessive velocities at point.
In the present embodiment, two in triple motion bar 6, the displacement bar 8 of second displacement bar 7 and first are slide rail, remaining
One is linear telescopic device.Pass through above-mentioned setting so that two slide rail directions of motion are stretched with another linear telescopic device
The contracting direction of motion is mutually perpendicular to, and the line for avoiding three directions interferes to motion.It is of course also possible to by triple motion bar 6,
The displacement bar 8 of second displacement bar 7 and first is disposed as slide rail；Or, it is disposed as linear telescopic device；Or, two therein set
Linear telescopic device is set to, remaining one is slide rail.
Triple motion bar 6 and second displacement bar 7 are slide rail；Second displacement bar 7 is slideably positioned on triple motion bar 6；The
One displacement bar 8 is linear telescopic device, and it is slideably positioned on second displacement bar 7, and its drive end is connected with end flange 9.That is,
Second displacement bar 7 is slidably arranged on triple motion bar 6, and the first displacement bar 8 is slidably arranged on second displacement bar 7
On, bearing of trend stretching motion of the end flange 9 in the first displacement bar of drive lower edge 8 of the first displacement bar 8.Set by above-mentioned
Put, further avoid triple motion bar 6, the situation that the displacement bar 8 of second displacement bar 7 and first interferes.Can also be made
Two displacement bars 7 and the first displacement bar 8 are arranged to slide rail, and triple motion bar 6 is arranged to linear telescopic device；Or the 3rd
Move the displacement bar 8 of bar 6 and first and be arranged to slide rail, and second displacement bar 7 is arranged to linear telescopic device.No longer it is discussed in detail herein
And within protection domain.
Preferably, linear telescopic device is linear electric motors or cylinder.By above-mentioned setting, linear telescopic device is automatically adjusted
Stretching motion, effectively increase automaticity and comfort level.It can also be provided that expansion link, real by external drive
Existing its stretches, and completes to extend along the effect of direction motion.
The embodiment of the present invention additionally provides a kind of robot, including robot body and end flange 9, in addition to as described above
Any gearshift；End flange 9 is connected with the first displacement bar 8, and driving end and the triple motion bar 6 of robot body connect
Connect.Because upper displacement apparatus has above-mentioned technique effect, the robot with upper displacement apparatus also should be with same skill
Art effect, no longer tire out one by one state herein.
Robot body include pass sequentially through joint connection pedestal 10, first connecting rod 1, second connecting rod 2, third connecting rod 3,
The connecting rod 5 of fourth link 4 and the 5th；5th one end of connecting rod 5 away from fourth link 4 is the driving end of robot body.I.e., originally
Robot in inventive embodiments, preferably six-joint robot.
In order to improve versatility, multiple mounting holes for installation tool are provided with end flange 9.
As shown in Figure 2, Figure 3 and Figure 4, the embodiment of the present invention additionally provides a kind of robot singular point processing method, application
Such as any gearshift, including step：
S1：By the articulation of robot to initial angle position, bring into operation robot linear motion programmed instruction；It is logical
Cross above-mentioned setting so that robot moves along a straight line after being in original state.Before step S1, preferably gearshift is zeroed.
S2：Judge whether robot enters singular point region, if it is, entering in next step；If not, robot continues just
Often motion；By taking six-joint robot as an example, by the articulation angle, θ in joint 55Parameter as singular point threshold decision.Work as θ5It is small
When threshold value, judge that robot enters singular point region, singular point transition flow is carried out into next step；Work as θ5It is more than or equal to
During threshold value, judge that robot is introduced into singular point region, robot continues proper motion.
Before step S2, singular point is calculated.
S3：It is next using singular point transition algorithm calculating robot cradle head on the premise of gearshift is not considered
Interpolation cycle needs the angle moved：
The end for drawing robot is solved by current kinetic position p1To precalculated position p2Between motion vectorWherein,
Singular point transition algorithm can be DLS (Damped least-squares, damping minimum variance) algorithm.It is of course also possible to adopt
With other singular point transition algorithms, no longer tire out one by one state herein.
S4：The end of calculating robot is from initial position p1To moving target position p3Need the motion to be moved along a straight line
VectorThe motion vector of compensation campaign is calculated, the motion vector of compensation campaign isWherein,For using strange
Motion vector under the rotational angle effect for the revolute joint that dissimilarity transition algorithm is calculatedBe actually needed into
Capable motion vectorDifference,Complete to move by gearshift, avoidWithBetween error, improve essence
Degree.
WillIt is decomposed into the move distance of three mutually orthogonal directionsIt is understood that
Three mutually orthogonal directions and end flange 9 are relative relative to the direction of linear motion of the first displacement bar 8, the first displacement bar 8
In second displacement bar 7 direction of linear motion and second displacement bar 7 relative to triple motion bar 6 a pair of direction of linear motion 1
Should.
The first displacement bar 8, second displacement bar 7 and the triple motion bar 6 of command displacement device move linearly respectively, motion
Distance respectively d7、d8、d9；As shown in figure 3, d7Vector direction be Y-axis, d8Vector direction be X-axis, d9Vector direction be
Z axis.Wherein, end flange 9 relative to the direction of linear motion of the first displacement bar 8, the first displacement bar 8 relative to second displacement bar
7 direction of linear motion and second displacement bar 7 is respectively X-axis, Y-axis and Z relative to the direction of linear motion of triple motion bar 6
Axle.End flange 9 relative to the first displacement bar 8 linear movement distance, the first displacement bar 8 relative to second displacement bar 7 line
Property move distance and second displacement bar 7 relative to triple motion bar 6 linear movement distance respectively d7、d8And d9。
Trajectory planning is carried out according to interpolation cycle and interpolation algorithm, and sends interpolation signal to actuator and is moved；It is logical
Cross trajectory planning so that task as defined in robot completion.
S5：Judge whether robot leaves singular point region：If not leaving singular point region, into step S3；
If leaving singular point region, enter in next step；
S6：Terminate singular point processing.
Robot singular point processing method provided in an embodiment of the present invention, with reference to gearshift, reach space displacement mode,
Motion is compensated in singular point transient process to robot in order to reach, improves the accuracy of robot work, and
And avoid robot and occur the problem of excessive velocities at singular point.
For the ease of compensating motion after gearshift, step S56 is also included between step S5 and step S6：In machine
After device people leaves singular point region progress proper motion, the displacement zero on gearshift is set.
As shown in figure 5, further, in step S56, the displacement resetting method on gearshift is：
S561：According to the move distance of line slideway on the first displacement bar 8, second displacement bar 7 and triple motion bar 6WithCalculateWherein,
S562：From current kinetic position p5To moving target position p6Motion vectorDo not considering gearshift
Under the premise of robot end movement position p4To target location p6Motion vector beWherein,For machine
The motion vector of the end of people.
S563：Trajectory planning is carried out according to interpolation cycle and interpolation algorithm, and sends interpolation signal to actuator and is transported
It is dynamic, pass through trajectory planning so that the end of robot is passed throughTarget location p is reached afterwards6, gearshift zero.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (3)
1. a kind of robot singular point processing method, it is characterised in that the gearshift of the robot includes being used to connect machine
The end flange (9) of device people and make first displacement bar (8) of the end flange (9) along its linear movement；Along described first
Move the second displacement bar (7) that bar (8) moves linearly；Moved linearly along the second displacement bar (7), for connecting robot
The triple motion bar (6) of the driving end of main body；The end flange (9) relative to first displacement bar (8) linear fortune
The dynamic direction of linear motion and the second displacement bar of direction, first displacement bar (8) relative to the second displacement bar (7)
(7) it is mutually perpendicular to relative to the direction of linear motion of the triple motion bar (6)；
Including step：
1) by the articulation of robot to initial angle position, bring into operation robot proper motion programmed instruction；
2) judge whether the robot enters singular point region, if it is, entering in next step；If not, the robot after
Continuous proper motion；
3) on the premise of institute's displacement apparatus is not considered, calculated using singular point transition algorithm under the revolute joint
One interpolation cycle needs the angle moved：
The end for drawing the robot is solved by current kinetic position p1To precalculated position p2Between motion vector
4) end of calculating robot is from initial position p1To moving target position p3Need the motion vector to be moved along a straight lineThe motion vector of compensation campaign is
WillIt is decomposed into the move distance of three mutually orthogonal directions
The first displacement bar (8), second displacement bar (7) and the triple motion bar (6) of control institute displacement apparatus make linear fortune respectively
Dynamic, move distance is respectively d7、d8And d9；
Trajectory planning is carried out according to interpolation cycle and interpolation algorithm, and sends interpolation signal to actuator and is moved；
5) judge whether robot leaves singular point region：If singular point region is not left, into step 3)；If from
Singular point region is opened, then is entered in next step；
6) singular point processing is terminated.
2. robot singular point processing method as claimed in claim 1, it is characterised in that the step 5) and the step 6)
Between also include step 56)：
After robot leaves singular point region progress proper motion, the displacement zero on institute's displacement apparatus is set.
3. robot singular point processing method as claimed in claim 2, it is characterised in that movement on institute's displacement apparatus away from
It is from resetting method：
561) according to the move distance of line slideway on the first displacement bar (8), second displacement bar (7) and triple motion bar (6)WithCalculate
562) from current kinetic position p5To moving target position p6Motion vectorOn the premise of gearshift is not considered
The end movement position p of robot4To position p6Motion vector be
563) trajectory planning is carried out according to interpolation cycle and interpolation algorithm, and sends interpolation signal to actuator and moved.
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| CN108608427B (en) * | 2018-06-05 | 2021-02-09 | 中科新松有限公司 | Singularity avoiding method and device in robot manual control traction process |
| CN113183148A (en) * | 2021-03-31 | 2021-07-30 | 成都飞机工业（集团）有限责任公司 | Industrial robot singularity-avoiding end effector connecting device and singularity-avoiding method |
| CN113305881B (en) * | 2021-05-14 | 2022-07-12 | 北京配天技术有限公司 | Singular area detection method in robot motion planning stage |
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| CN101456182A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
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