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针对机器人在运动规划中存在的奇异问题，提出一种机器人点对点S型规划奇异规避算法.通过建立HSR-JR605机器人运动学模型，构建雅可比矩阵，分析三种奇异位形.分析机器人奇异时的参数表达式，结合点对点奇异规避算法和S型轨迹规划算法，提出了一种点对点S型轨迹规划奇异规避算法，提高寻找奇异区域离开点的速度，增加机器人运行的平稳性.最后对HSR-JR605机器人进行奇异规避算法的实验，验证算法的有效性.
Abstract：An algorithm is proposed in this paper for robotic point-to-point motion that integrates S-curve planning with real-time singularity avoidance. Based on the established kinematic model of the HSR-JR605 robot, the Jacobian matrix is constructed, and three types of singular configurations are analyzed. Based on the parametric expressions of robot singularities, a point-topoint S-curve trajectory planning algorithm with singularity avoidance is developed by integrating the singularity avoidance algorithm with the S-curve trajectory planning method. This method improves the speed of finding escape points from singular regions and enhances the smoothness of robot operation. Finally, experiments are conducted on the HSR-JR605 robot to validate the effectiveness of the proposed singularity avoidance algorithm.
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基本信息:
中图分类号:TP242
引用信息:
[1]温晗希,赵永杰,冯荣章.一种机器人点对点S型规划奇异规避算法[J].汕头大学学报(自然科学版),2026,41(01):43-52.
2026-02-15
2026-02-15