Robot labeling path planning and singularity verification method for bundles of bars

The invention relates to a robot labeling path planning and singularity verification method for bundles of bars. The method comprises the following steps that firstly, a robot kinematics coordinate system and an end surface user coordinate system of the bundles of bars are established, and the kinematic analysis is completed; secondly, a robot Jacobian matrix is solved by adopting a differential transformation method, and the robot singularity is analyzed; thirdly, according to the spatial position of the end surfaces of the bundles of bars under the robot base coordinate system, the working space of a robot end effector is determined, and the working range of each joint of the robot is solved by using a kinematic inverse solution analysis formula; and fourthly, a Monte Carlo method is adopted, random points in the robot end working range are subjected to singularity verification, and whether the robot labeling path in the region is safe or not is verified. According to the method, theworking space path of th