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Related Experiment Video

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Operation of the Collaborative Composite Manufacturing CCM System

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Singular Configuration Analysis and Singularity Avoidance with Application in an Intelligent Robotic Manipulator.

Helin Wang¹, Ziqiang Zhou¹, Xianyou Zhong¹

¹Department of Control Science and Engineering, Tongji University, Shanghai 201804, China.

Sensors (Basel, Switzerland)

|February 15, 2022

Summary

This study addresses singularity avoidance for co-working robots (co-bots) in intelligent manufacturing. It analyzes causes of singularity and proposes schemes to ensure safe and smooth robot operation during human-robot interaction.

Keywords:

co-bot kinetic inverse solution load and torque sensors modeling robotic systems singular configuration analysis singularity avoidance

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Published on: October 14, 2017

Area of Science:

Robotics
Intelligent Manufacturing
Control Systems

Background:

Co-working robots (co-bots) are crucial for intelligent manufacturing, offering flexibility and safety for human-robot collaboration.
Maintaining safe operation and human-computer interaction in complex environments requires advanced control strategies.
Singularity is a critical phenomenon in robot motion control that can impede smooth and safe operation.

Purpose of the Study:

To analyze the causes of singularity in co-bot motion control.
To develop and evaluate singularity avoidance schemes for co-bots.
To ensure safe and smooth robot operation in complex working environments and during human-robot interaction.

Main Methods:

Utilized a dynamic model with load and torque sensors to detect external forces.
Analyzed singularity causes through systematic examination of robot dynamics.
Obtained inverse solutions using both analytical and numerical methods.
Implemented and simulated singularity avoidance schemes for point-to-point and continuous path control.

Main Results:

Identified key causes of singularity in co-bot motion.
Demonstrated the effectiveness of proposed singularity avoidance schemes through simulations.
Compared and analyzed the advantages and disadvantages of different evasion strategies.
Verified the ability to ensure smooth and safe robot operation across the workspace.

Conclusions:

Singularity analysis and avoidance are essential for safe co-bot operation in intelligent manufacturing.
The proposed schemes effectively prevent singularity, enhancing robot safety and performance.
This research contributes to the reliable implementation of co-bots in complex human-robot interactive systems.