Singularity Analysis and Singularity Avoidance Trajectory Planning for Industrial Robots

Abstract

Aiming at the problem of singular configuration of industrial robot in linear operation, this paper analyzes and studies the singularity configuration and singularity avoidance method of industrial robot, and a dynamic damping least square method singularity avoidance trajectory planning algorithm based on minimum singular value is proposed. The kinematics model of the robot with spherical wrist structure is established. Based on the decoupling analysis of the robot singularity, the singularity mathematical expressions of the wrist, the elbow and the shoulder are obtained respectively. It is closely related to the length and offset of connecting link. The dynamic damped least square method based on the minimum singular value is used to adjust the trajectory of the Cartesian space and the mapped joint space in the singular region. Simulation results show that the velocity of the proposed method is stable near the singular configuration, and there is no uncontrollable phenomenon of motion discontinuity and stability degradation.