北京信息科技大学学报（自然科学版）2023，Vol.38Issue(6)：56-63,8.DOI:10.16508/j.cnki.11-5866/n.2023.06.008
七轴机械臂避奇异轨迹规划
Singularity avoidance trajectory planning for a seven-axis manipulator
周嘉文 1刘相权 1张晓磊 2白宇砷2
作者信息
- 1. 北京信息科技大学机电工程学院,北京 100192
- 2. 北京思灵机器人科技有限责任公司,北京 100192
- 折叠
摘要
Abstract
In order to effectively solve the problem of joint angle reaching the joint limit during singularity avoidance trajectory planning for a manipulator,the Jacobian matrix of the manipulator was established using the differential method,by taking the seven-axis manipulator of Agile Robotics Company as the research object.Whether the manipulator is approaching a singular state was evaluated by analyzing its manipulability measure,and the joint angular velocity of the manipulator to avoid singularity was determined by using the damping least squares method.By utilizing self-motion in null space,the joint angular velocity was restricted to prevent it from reaching the limit of motion,and a new method for calculating self-motion was proposed.Finally,by combining the joint angular velocity of singularity avoidance with the joint angular velocity of self-motion,the final joint angular velocity of the manipulator was obtained.By comparing experiment with simulation results,the effectiveness of the proposed calculation method was verified.The problem that the manipulator stops motion when the joint angle is in the limit position during singularity avoidance is effectively solved.关键词
奇异回避/关节极限/零空间/自运动/轨迹规划Key words
singularity avoidance/joint limit/null space/self-motion/trajectory planning分类
信息技术与安全科学引用本文复制引用
周嘉文,刘相权,张晓磊,白宇砷..七轴机械臂避奇异轨迹规划[J].北京信息科技大学学报（自然科学版）,2023,38(6):56-63,8.
