Singular Avoidance Trajectory Planning Method for Industrial Robot
A singular avoidance trajectory planning method based on singular prediction domain and real-time optimi-zation is proposed aiming at the kinematics singular problems during the measurement of six-axis industrial robot positioning error using laser tracer.A 6-DoF serial robot model is established using a domestic industrial robot PeiTian AIR50-A as the research object,thus the relationship is mapped between Cartesian space and robotic joint space.Based on the relationship model between Jacobian matrix and singular configuration,the singular regions in the robot trajectory are analyzed and pre-dicted.When the end of the robot is in the singular region or singular prediction region,the initial joint angle sequence is recorded as the input of the singular avoidance trajectory planning,then the trajectory path in the singular region is iterative-ly updated by the quintic polynomial interpolation method.A new trajectory is formed by the established path combined with the updated singular avoidance path,which ensures the continuity of the kinematic parameters of the robot joint angle and avoids the singular region at the same time.The experimental results show that the proposed singular prediction domain and real-time optimized singular avoidance trajectory planning method can suppress the sudden change of joint angular velocity near the singular region of the robot and reduce the influence of singular configuration on the motion performance of the robot.
万方数据
维普
