机器人球腕奇异位形控制方法

The Control for Singularity in Spherical Wrist of Robot

当机器人球腕处于奇异位形时,一般的分解速度控制失效,当球腕接近奇异位形时关节速度会超过其速度极限,这些造成机器人手都产生运动偏离,比例法和死区保护法不能有效地克服奇异位形造成的控制困难,本文提出的运动协调控制可以有效地用于球腕奇异位形及其附近的球腕运动控制而不会发生关节速度超限和手部运动偏差。

The resolved rate control schame will fail at or near the wrist singularity. Scaling and Dead -band can not effictively overcome the wrist singularty. This paper presents the coordinated movement control scheme that can be used for the movement control of spherical wrist singularity without exceeding joint rate limit and undesired hand movement.