CN-117124320-B - Method and system for avoiding singular regions of mechanical arm under different operation requirements

CN117124320BCN 117124320 BCN117124320 BCN 117124320BCN-117124320-B

Abstract

The invention discloses a method, a system, equipment and a medium for avoiding singular areas of a mechanical arm under different operation requirements, wherein the method comprises the steps of determining a transformation matrix between a joint coordinate system and a Cartesian coordinate system according to a kinematic model of the mechanical arm; marking all operation areas on a Cartesian space motion track of the mechanical arm, identifying all singular areas from all operation areas according to a plurality of motion information and the transformation matrix which are associated with a plurality of interpolation points arranged in each operation area, and distributing corresponding singular avoidance strategies to all the singular areas according to a singular avoidance evaluation parameter library which is associated with all the operation areas. According to the invention, the detection speed of the singular region can be accelerated by automatically adjusting the detection step length, and the singular avoidance strategies are allocated to different operation regions with the singular region so as to carry out track correction on all the singular regions in the operation region, so that the damage caused by the singularity of the mechanical arm can be reduced in the process of better completing the operation task of the robot.

Inventors

Feng Rongzhang
HUANG JIAN
ZHAO YONGJIE
TAN WENJUN
LUO YONGHUA

Assignees

佛山智能装备技术研究院

Dates

Publication Date: 20260505
Application Date: 20230803

Claims (7)

1. The method for avoiding the singular region of the mechanical arm under different operation requirements is characterized by comprising the following steps of: according to the kinematic model of the mechanical arm, determining a transformation matrix between the joint coordinate system and the Cartesian coordinate system; Marking all operation areas on a Cartesian space motion track of the mechanical arm, and identifying all singular areas from all the operation areas according to a plurality of motion information and the transformation matrix associated with a plurality of interpolation points arranged in each operation area; according to the singular avoidance evaluation parameter library associated with all the operation areas, corresponding singular avoidance strategies are allocated to all the singular areas; Wherein, according to the transformation matrix and the motion information associated with the interpolation points in each operation area, identifying all singular areas from all operation areas includes: for any of the all of the work areas, Step 1, judging whether the ith interpolation point accords with a singular point judgment standard according to the motion information of the ith interpolation point and the transformation matrix arranged in the operation area, if not, executing step 2, if so, giving a singular area starting identifier to the ith interpolation point, calling a quick query strategy to select a single later interpolation point and giving a singular area ending identifier to the single interpolation point, and then executing step 2; step 2, judging whether i < N is true or not, wherein N is the number of interpolation points arranged in the operation area, if so, assigning i+1 to i, and returning to the step 1; The step of calling the rapid query strategy to select a single interpolation point at the back and endow the single interpolation point with a singular region ending mark comprises the following steps: Step 11, judging whether i < N-S is true, wherein S is the detection step length associated with the operation area, if so, assigning i+S to i, executing step 12, and if not, assigning a singular area ending mark at the last interpolation point in the operation area; Step 12, judging whether the ith interpolation point accords with a singular point judgment standard according to the motion information of the ith interpolation point and the transformation matrix arranged in the operation area, if so, returning to the step 11, and if not, giving a singular area ending mark at the ith interpolation point; Wherein, according to the motion information of the ith interpolation point and the transformation matrix, the determining whether the ith interpolation point accords with the singular point determining standard includes: The motion information of the ith interpolation point comprises a spatial position and an Euler angle of the mechanical arm at the ith interpolation point, and the spatial position and the Euler angle are subjected to a kinematic inverse solution by utilizing the transformation matrix to obtain a current joint angle value and a next joint angle value of the mechanical arm at the ith interpolation point; According to the current joint angle value, the next joint angle value and the time step between the current joint angle value and the next joint angle value, determining singular judgment values associated with the ith interpolation point and judging whether the singular judgment values fall within a given threshold range, if so, judging that the ith interpolation point does not accord with the singular point judgment standard, and if not, judging that the ith interpolation point accords with the singular point judgment standard.
2. The method for avoiding singular zones of a robot arm under different operation requirements according to claim 1, wherein the detection step length associated with the operation zone is determined by the number of interpolation points set in the operation zone and the frequency factor associated with the operation zone.
3. The method for avoiding a singular zone of a robot arm under different operation requirements according to claim 1, wherein when a singular zone start identifier and a singular zone end identifier are not given in the operation zone, it is determined that a singular zone does not exist in the operation zone.
4. The method for avoiding singular zones of a manipulator according to claim 1, wherein the assigning the corresponding singular avoidance policies to all the singular zones according to the singular avoidance evaluation parameter library associated with all the working zones comprises: for any operation area with a singular area in all operation areas, acquiring motion weight parameters of the mechanical arm related to the operation area from a given singular avoidance evaluation parameter library, wherein the motion weight parameters comprise pose-free requirement weight, tail end pose weight, tail end direction weight and tail end position weight; according to the motion weight parameters, determining a singular avoidance evaluation value associated with the operation area; and calling a given singular avoidance strategy database to inquire and allocate the singular avoidance evaluation values to obtain the singular avoidance strategies which are allowed to be adopted by all singular areas in the operation area.
5. The utility model provides a robotic arm singular zone avoiding system under different operation requirements which characterized in that includes: the determining module is used for determining a transformation matrix between the joint coordinate system and the Cartesian coordinate system according to the kinematic model of the mechanical arm; the identification module is used for marking all operation areas on a Cartesian space motion track of the mechanical arm, and identifying all singular areas from all operation areas according to a plurality of motion information and the transformation matrix which are associated with a plurality of interpolation points arranged in each operation area; The distribution module is used for distributing corresponding singular avoidance strategies to all the singular avoidance areas according to the singular avoidance evaluation parameter library associated with all the operation areas; Wherein, according to the transformation matrix and the motion information associated with the interpolation points in each operation area, identifying all singular areas from all operation areas includes: for any of the all of the work areas, Step 1, judging whether the ith interpolation point accords with a singular point judgment standard according to the motion information of the ith interpolation point and the transformation matrix arranged in the operation area, if not, executing step 2, if so, giving a singular area starting identifier to the ith interpolation point, calling a quick query strategy to select a single later interpolation point and giving a singular area ending identifier to the single interpolation point, and then executing step 2; step 2, judging whether i < N is true or not, wherein N is the number of interpolation points arranged in the operation area, if so, assigning i+1 to i, and returning to the step 1; The step of calling the rapid query strategy to select a single interpolation point at the back and endow the single interpolation point with a singular region ending mark comprises the following steps: Step 11, judging whether i < N-S is true, wherein S is the detection step length associated with the operation area, if so, assigning i+S to i, executing step 12, and if not, assigning a singular area ending mark at the last interpolation point in the operation area; Step 12, judging whether the ith interpolation point accords with a singular point judgment standard according to the motion information of the ith interpolation point and the transformation matrix arranged in the operation area, if so, returning to the step 11, and if not, giving a singular area ending mark at the ith interpolation point; Wherein, according to the motion information of the ith interpolation point and the transformation matrix, the determining whether the ith interpolation point accords with the singular point determining standard includes: The motion information of the ith interpolation point comprises a spatial position and an Euler angle of the mechanical arm at the ith interpolation point, and the spatial position and the Euler angle are subjected to a kinematic inverse solution by utilizing the transformation matrix to obtain a current joint angle value and a next joint angle value of the mechanical arm at the ith interpolation point; According to the current joint angle value, the next joint angle value and the time step between the current joint angle value and the next joint angle value, determining singular judgment values associated with the ith interpolation point and judging whether the singular judgment values fall within a given threshold range, if so, judging that the ith interpolation point does not accord with the singular point judgment standard, and if not, judging that the ith interpolation point accords with the singular point judgment standard.
6. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor executes the computer program to implement the robot singular zone avoidance method under different job requirements of any one of claims 1 to 4.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the robot arm singular zone avoidance method under different job requirements according to any one of claims 1 to 4.

Description

Method and system for avoiding singular regions of mechanical arm under different operation requirements Technical Field The invention relates to the technical field of mechanical arm control, in particular to a method, a system, equipment and a medium for avoiding singular areas of a mechanical arm under different operation requirements. Background In the actual running process of the Cartesian space, the mechanical arm has singularities, so that the partial end effector loses the capacity of moving in any direction, the phenomenon of joint overspeed and discontinuous movement easily occurs when the robot moves in a singular point and a singular area where the robot is positioned, if the singular area is not found in time and is avoided, certain damage is brought to a robot body, and the robot is not beneficial to better completing the operation task of the robot. Disclosure of Invention The invention provides a method, a system, equipment and a medium for avoiding singular areas of a mechanical arm under different operation requirements, which are used for solving one or more technical problems in the prior art and at least providing a beneficial selection or creation condition. In a first aspect, a method for avoiding singular regions of a mechanical arm under different operation requirements is provided, including: according to the kinematic model of the mechanical arm, determining a transformation matrix between the joint coordinate system and the Cartesian coordinate system; Marking all operation areas on a Cartesian space motion track of the mechanical arm, and identifying all singular areas from all the operation areas according to a plurality of motion information and the transformation matrix associated with a plurality of interpolation points arranged in each operation area; And according to the singular avoidance evaluation parameter library associated with all the operation areas, corresponding singular avoidance strategies are allocated to all the singular avoidance areas. Further, the identifying all singular regions from all the operation regions according to the motion information and the transformation matrix associated with the interpolation points provided in each operation region includes: for any of the all of the work areas, Step 1, judging whether the ith interpolation point accords with a singular point judgment standard according to the motion information of the ith interpolation point and the transformation matrix arranged in the operation area, if not, executing step 2, if so, giving a singular area starting identifier to the ith interpolation point, calling a quick query strategy to select a single later interpolation point and giving a singular area ending identifier to the single interpolation point, and then executing step 2; And 2, judging whether i < N is met, wherein N is the number of interpolation points arranged in the operation area, if so, assigning i+1 to i, returning to the step 1, and if not, identifying all singular areas from the operation area according to all singular area starting identifiers and all singular area ending identifiers which are assigned in the operation area. Further, the invoking the fast query strategy to select a single interpolation point and assign a singular region end identifier to the single interpolation point comprises: Step 11, judging whether i < N-S is true, wherein S is the detection step length associated with the operation area, if so, assigning i+S to i, executing step 12, and if not, assigning a singular area ending mark at the last interpolation point in the operation area; And step 12, judging whether the ith interpolation point accords with a singular point judgment standard according to the motion information of the ith interpolation point and the transformation matrix which are arranged in the operation area, if so, returning to the step 11, and if not, giving a singular area ending mark to the ith interpolation point. Further, the determining whether the i-th interpolation point meets the singular point determination criterion according to the motion information of the i-th interpolation point and the transformation matrix, which are set in the operation area, includes: The motion information of the ith interpolation point comprises a spatial position and an Euler angle of the mechanical arm at the ith interpolation point, and the spatial position and the Euler angle are subjected to a kinematic inverse solution by utilizing the transformation matrix to obtain a current joint angle value and a next joint angle value of the mechanical arm at the ith interpolation point; According to the current joint angle value, the next joint angle value and the time step between the current joint angle value and the next joint angle value, determining singular judgment values associated with the ith interpolation point and judging whether the singular judgment values fall within a given threshold range, if so, judging that the ith inter