Department of Control Science and Engineering, Tongji University, Shanghai 201804, China.
Sensors (Basel). 2022 Feb 6;22(3):1239. doi: 10.3390/s22031239.
Recently, robotic sensor systems have gained more attention annually in complex system sense strategies. The robotic sensors sense the information from itself and the environment, and fuse information for the use of perception, decision, planning, and control. As an important supplement to traditional industrial robots, co-bots (short for co-working robots) play an increasingly vital role in helping small and medium-sized enterprises realize intelligent manufacturing. They have high flexibility and safety so that they can assist humans to complete highly repetitive and high-precision work. In order to maintain robot safe operation in the increasing complex working environment and human-computer intelligent interactive control, this paper is concerned with the problem of applicant accuracy analysis and singularity avoidance for co-bots. Based on the dynamic model with load and torque sensors, which is used to detect the external force at the end of the robot, this paper systematically analyzes the causes of singularity phenomenon in the robot motion control. The inverse solution is obtained by analytical method and numerical method, respectively. In order to ensure the smooth and safe operation in the whole workspace, it is necessary for a robot to avoid singularity. Singularity avoidance schemes are utilized for different control tasks, including point-to-point control and continuous path control. Corresponding simulation experiments are designed to verify the effectiveness of different evasion schemes, in which the advantages and disadvantages are compared and analyzed.
近年来，机器人传感器系统在复杂系统感知策略中受到了越来越多的关注。机器人传感器从自身和环境中感知信息，并融合信息以实现感知、决策、规划和控制。协作机器人（简称 cobot）作为传统工业机器人的重要补充，在帮助中小企业实现智能制造方面发挥着越来越重要的作用。它们具有很高的灵活性和安全性，可以帮助人类完成高度重复和高精度的工作。为了保持机器人在日益复杂的工作环境中的安全运行和人机智能交互控制，本文关注协作机器人的应用精度分析和奇异避免问题。基于带有负载和扭矩传感器的动力学模型，用于检测机器人末端的外力，本文系统地分析了机器人运动控制中奇异现象的原因。通过解析方法和数值方法分别获得了逆解。为了确保在整个工作空间内平稳和安全地运行，机器人需要避免奇异。奇异避免方案用于不同的控制任务，包括点对点控制和连续路径控制。设计了相应的仿真实验来验证不同规避方案的有效性，并对其优缺点进行了比较和分析。
