I. Classification of singular shapes of industrial robots
The singularities of industrial robots refers to an industrial robot Jacobian matrix rank reduction geometric located. For industrial robots with six degrees of freedom, the singularity of the Jacobian matrix is ​​irreversible. Roughly speaking, the singular shape of industrial robots can be divided into two categories:
(1) The singular shape of the boundary of the working space of the industrial robot;
(2) The singular shape inside the workspace, usually caused by the coincidence of two or more joint axes. The two joint angles provide the end motion at an infinite speed, in which the industrial robot loses one degree of freedom, making the end motion difficult to achieve. It is precisely the initial position of the articulated industrial robot, that is, the joint type industrial robot at the initial position has a singular solution, and there is a singular phenomenon. To avoid the singular shape, the fourth and sixth joints of the industrial robot are given a constant angular velocity.
Second, how to avoid singular shapes and obstacles
In the actual optimization control of industrial robots, it is often necessary to optimize multiple kinematic performance indicators according to the requirements of working environment and tasks. Industrial robots must always avoid the switch joint angle limitation and internal singularity during the movement. If there are obstacles in the work space, the performance index of avoiding this obstacle should be added in the control. In the process of industrial robot simulation, some kinematic indicators also need to be compared. We need to first determine these performance indicators. Commonly used kinematic indicators and their calculation formulas are as follows:
(1) Avoid switch angle limit
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