工业机器人奇异位形的探讨与分析

Probe and Analysis on Singular Configuration of Industrial Robots

随着科技的进步,从三轴工业机器人到六轴工业机器人,在企业中工业机器人得到大量的运用,工业机器人具有高度的灵活性和平稳性,但工业机器人在使用时候有一共同问题,机器人奇异位报警,以六轴工业机器人为研究对象,使用了Jacobian矩阵分析奇异位产生的原因,然后给出了一些在操作中解决问题的方法,这样对于初学者掌握工业机器人的操作有较大的帮助。

With the progress of science and technology,from the three-axis industrial robot to the six-axis industrial robot,the industrial robot has been widely used in enterprises.The industrial robot demonstrates high flexibility and stability,however,a common problem is found in its use,the robot singularity alarm.This paper studies the six axis industrial robot by adoptingJacobian matrix in analyzing the cause of the singular configuration and proposes some methods in order to solve them,which is of great help for the beginners to learn the operation of industrial robots.