冗余机械臂奇异位置监测与路径规避方法
Monitoring and Path Avoiding Method of Singular Position of the Redundant Manipulator

机器人运动过程中机械臂位姿奇异问题是由于机械臂逆向运动学解算的伪逆算法固有缺陷导致的，一般会发生在机械臂肘部关节趋近于零、处于安全停靠构型以及其他未知的状态。陷入奇异点后，通常采取路径规划方式避开，处置过程存在状态研判困难、规划耗时、再次操控仍然容易陷入奇异等问题。针对此问题，根据机械臂陷入奇异位置的逆运动学特点，提出了一种基于雅可比矩阵模值和条件数的预警方法和基于距离投影的运动路径处置方法，并进行了仿真验证。结果表明雅可比矩阵模值对奇异位置发生过程更为敏感，适合作为监测参数。
The singular position and attitude of mechanical arm in the process of remote control is resulted from the inherent defects of pseudo inverse algorithm for inverse kinematics solution of mechanical arm and generally occurs when the elbow joint angle of mechanical arm is close to zero and the mechanical arm is in a safe docking configuration and other unknown states. In case of getting into the singular point, the method of path planning is usually used to avoid it, and some problems will happen in the process of disposal, for example, it is difficult to judge the state, it takes a lot of time to plan, recontrol will easily get into the singular point again. In order to solve these problems, according to the inverse kinematics characteristics when mechanical arm gets into the singular point, this paper put forward a warning method based on jacobian matrix module value and conditional number and a disposal method based on distance projection and carried out simulation verification. The results show that jacobian matrix module value is more sensitive to the generating process of singular position and can be used as the detection parameter.