关键词: 避奇异, 矩阵分割, 二次规划, 三轴平行

Abstract:

A new method to avoid the singularity is presented for the 6-Dof robot with the structure of three consecutive parallel axes. By analyzing the robot Jacobian matrix structure and rebuilding the Jacobian matrix, the six-dimensional Jacobian matrix is divided into two three-dimensional Jacobian matrixes. On this basis, the conditions of robot singularity occurrence are determined and the robot avoiding the singularity is achieved by using quadratic programming. Finally, the algorithm effectiveness is validated by the experiment. The comparison between the quadratic programming method and the existing Damped least-squares method is manifested and the former is superior.

Key words: avoiding singularity, matrix partitioning, quadratic programming, three consecutive parallel axes