| The singular configuration is a special configuration of mechanism.Since it was invented by human,the singularity problem was there.The singularity problems may exist in both the boundary and the inner workspace. Therefore, the singularity is an important index to evaluate the kinematic performance of the robot mechanism. Singularity solving will be of great significance,and also improve the stability,dynamic performance and application of industrial robots.In this paper,we will use a six joint series robot manipulator as the prototype,to illustrate the robot singularity problems.The main work includes as the following aspects:At first, analyzes the existing defects in the normal DH method,and presents a modified DH method with five elements. Then use this method to establish the kinematics model. At the same time numerical and graphic simulation were carried out in MATLAB and the results proved the correctness of the model.Presents two kinds of singularity identification method from the position of Jacobian matrix: algebraic method and geometric method. And there detailed deduction and comparative analysis of these two methods are made. Based on the screw theory research hot recently, given a detailed analysis in Jacobian matrix by the spiral motion equation. Using the geometric theory to analysis the singularity of the robot from the nature of the singularity. And the analysis results compared to the Jacobi matrix results, show the correctness of the geometric analysis.And the advantages and disadvantages of the two methods are also analyzed in this paper.In this paper, two main approaches to the treatment of singular configurations are described. According to different types of singularity, a new algorithm is proposed to avoid the singularity of the robot from the joint space planning. Finally, from two aspects of theoretical and experimental data simulation, we verified the algorithm, and the results show that the algorithm is correct and feasible. |
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