{"id":82786,"date":"2022-12-28T16:26:27","date_gmt":"2022-12-28T08:26:27","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=82786"},"modified":"2022-12-28T16:26:27","modified_gmt":"2022-12-28T08:26:27","slug":"singularity-of-robot","status":"publish","type":"docs","link":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/","title":{"rendered":"Singularity of Robot"},"content":{"rendered":"<table width=\"919\">\n<tbody>\n<tr>\n<td width=\"212\"><b>Case description:<\/b><\/td>\n<td colspan=\"2\" width=\"707\">This section describes the robot singular point space and how to prevent it.<\/td>\n<\/tr>\n<tr>\n<td width=\"212\"><b>Result:<\/b><\/td>\n<td colspan=\"2\" width=\"707\">When the robot pass the singular, the system will report error code 0X09, 0x14\u00a0 or\u00a0 position information is disordered, causing the robot move abnormally.<\/td>\n<\/tr>\n<tr>\n<td rowspan=\"2\" width=\"212\"><b>Possible <\/b><b>reason:<\/b><\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png\"><img loading=\"lazy\" class=\"alignnone  wp-image-74610\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png\" alt=\"\" width=\"229\" height=\"367\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png 335w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1-188x300.png 188w\" sizes=\"(max-width: 229px) 100vw, 229px\" \/><\/a><\/td>\n<td rowspan=\"2\" width=\"499\"><b>1.Inner singularity<\/b><\/p>\n<p>In the inner singularity, the wrist root point is close to cylindrical as shown in below. The definition of cylindrical<\/p>\n<p>radius , is distance between center of J1 and J6. Once robot arm close the inner singularity, robot arm<\/p>\n<p>will stop and sent out a warning.<\/p>\n<p><b>2.Extended singularity<\/b><\/p>\n<p>In the outer singularity, the wrist root point is located at the limit of its work envelope. Namely, J3 is almost in zero degree. Robot arm stop and send out a warning when end-effector beyond working space.<\/p>\n<p><b>Processing steps:<\/b><\/p>\n<p>While robot arm send out a warning because of inner singularity, user can press the FREE bottom to<\/p>\n<p>get rid of warning. Please reconsider the position of the points or change the trajectory between the points.<\/p>\n<p>Please avoid the robot trajectory between the points cross the inner singularity<\/p>\n<p><b>3.Wrist axis singularity<\/b><\/p>\n<p>In the wrist singularity position, the J4 and J6 line up each other. In this case, these joints will try and spin 180 degrees instantaneously. There is an infinite number of possible for J4 and J6 with identical axis angle. Once situation mentioned occur, robot arm will stop and send out a warning<\/p>\n<p><b>Processing steps:<\/b><\/p>\n<p>While robot arm send out a warning because of wrist axis singularity, user can press the FREE button to<\/p>\n<p>get rid of warning. Try to move the robot along z-axis in tool base when J4 and J6 with identical axis angle<\/p>\n<p>will cause wrist axis singularity. The picture below shows an example to prevent wrist axis singularity.<\/td>\n<td width=\"208\"><b>Common error code<\/b><\/p>\n<p>0x00000009<\/p>\n<p>0x00000014<\/p>\n<p>0x0000FF05<\/td>\n<\/tr>\n<tr>\n<td width=\"208\"><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"excerpt":{"rendered":"<p>Case description: This section describes the robot sing [&hellip;]<\/p>\n","protected":false},"author":4696,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4312],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Singularity of Robot | \u8fbe\u660e\u673a\u5668\u4eba<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Singularity of Robot | \u8fbe\u660e\u673a\u5668\u4eba\" \/>\n<meta property=\"og:description\" content=\"Case description: This section describes the robot sing [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/\" \/>\n<meta property=\"og:site_name\" content=\"\u8fbe\u660e\u673a\u5668\u4eba\" \/>\n<meta property=\"og:image\" content=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"Organization\",\"@id\":\"https:\/\/www.tm-robot.com.cn\/de\/#organization\",\"name\":\"Techman Robot\",\"url\":\"https:\/\/www.tm-robot.com.cn\/de\/\",\"sameAs\":[],\"logo\":{\"@type\":\"ImageObject\",\"@id\":\"https:\/\/www.tm-robot.com.cn\/de\/#logo\",\"inLanguage\":\"zh-CN\",\"url\":\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2018\/09\/logo.png\",\"contentUrl\":\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2018\/09\/logo.png\",\"width\":221,\"height\":196,\"caption\":\"Techman Robot\"},\"image\":{\"@id\":\"https:\/\/www.tm-robot.com.cn\/de\/#logo\"}},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.tm-robot.com.cn\/de\/#website\",\"url\":\"https:\/\/www.tm-robot.com.cn\/de\/\",\"name\":\"\\u8fbe\\u660e\\u673a\\u5668\\u4eba\",\"description\":\"\\u539f\\u751fAI\\u5f15\\u64ce + \\u673a\\u5668\\u624b\\u81c2 + \\u89c6\\u89c9\\u7cfb\\u7edf\",\"publisher\":{\"@id\":\"https:\/\/www.tm-robot.com.cn\/de\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.tm-robot.com.cn\/de\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-CN\"},{\"@type\":\"ImageObject\",\"@id\":\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#primaryimage\",\"inLanguage\":\"zh-CN\",\"url\":\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png\",\"contentUrl\":\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png\"},{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#webpage\",\"url\":\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/\",\"name\":\"Singularity of Robot | \\u8fbe\\u660e\\u673a\\u5668\\u4eba\",\"isPartOf\":{\"@id\":\"https:\/\/www.tm-robot.com.cn\/de\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#primaryimage\"},\"datePublished\":\"2022-12-28T08:26:27+00:00\",\"dateModified\":\"2022-12-28T08:26:27+00:00\",\"breadcrumb\":{\"@id\":\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#breadcrumb\"},\"inLanguage\":\"zh-CN\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\/\/www.tm-robot.com\/zh-hans\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Docs\",\"item\":\"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/\"},{\"@type\":\"ListItem\",\"position\":3,\"name\":\"Singularity of Robot\"}]}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"Singularity of Robot | \u8fbe\u660e\u673a\u5668\u4eba","robots":{"index":"noindex","follow":"follow"},"og_locale":"zh_CN","og_type":"article","og_title":"Singularity of Robot | \u8fbe\u660e\u673a\u5668\u4eba","og_description":"Case description: This section describes the robot sing [&hellip;]","og_url":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/","og_site_name":"\u8fbe\u660e\u673a\u5668\u4eba","og_image":[{"url":"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png"}],"twitter_card":"summary_large_image","schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"Organization","@id":"https:\/\/www.tm-robot.com.cn\/de\/#organization","name":"Techman Robot","url":"https:\/\/www.tm-robot.com.cn\/de\/","sameAs":[],"logo":{"@type":"ImageObject","@id":"https:\/\/www.tm-robot.com.cn\/de\/#logo","inLanguage":"zh-CN","url":"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2018\/09\/logo.png","contentUrl":"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2018\/09\/logo.png","width":221,"height":196,"caption":"Techman Robot"},"image":{"@id":"https:\/\/www.tm-robot.com.cn\/de\/#logo"}},{"@type":"WebSite","@id":"https:\/\/www.tm-robot.com.cn\/de\/#website","url":"https:\/\/www.tm-robot.com.cn\/de\/","name":"\u8fbe\u660e\u673a\u5668\u4eba","description":"\u539f\u751fAI\u5f15\u64ce + \u673a\u5668\u624b\u81c2 + \u89c6\u89c9\u7cfb\u7edf","publisher":{"@id":"https:\/\/www.tm-robot.com.cn\/de\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.tm-robot.com.cn\/de\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-CN"},{"@type":"ImageObject","@id":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#primaryimage","inLanguage":"zh-CN","url":"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png","contentUrl":"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2022\/10\/12-1.png"},{"@type":"WebPage","@id":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#webpage","url":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/","name":"Singularity of Robot | \u8fbe\u660e\u673a\u5668\u4eba","isPartOf":{"@id":"https:\/\/www.tm-robot.com.cn\/de\/#website"},"primaryImageOfPage":{"@id":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#primaryimage"},"datePublished":"2022-12-28T08:26:27+00:00","dateModified":"2022-12-28T08:26:27+00:00","breadcrumb":{"@id":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#breadcrumb"},"inLanguage":"zh-CN","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/singularity-of-robot\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"Home","item":"https:\/\/www.tm-robot.com\/zh-hans\/"},{"@type":"ListItem","position":2,"name":"Docs","item":"https:\/\/www2.tm-robot.com\/zh-hans\/docs\/"},{"@type":"ListItem","position":3,"name":"Singularity of Robot"}]}]}},"_links":{"self":[{"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/docs\/82786"}],"collection":[{"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/docs"}],"about":[{"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/types\/docs"}],"author":[{"embeddable":true,"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/users\/4696"}],"replies":[{"embeddable":true,"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/comments?post=82786"}],"version-history":[{"count":0,"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/docs\/82786\/revisions"}],"wp:attachment":[{"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/media?parent=82786"}],"wp:term":[{"taxonomy":"doc_category","embeddable":true,"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/doc_category?post=82786"},{"taxonomy":"doc_tag","embeddable":true,"href":"https:\/\/www2.tm-robot.com\/zh-hans\/wp-json\/wp\/v2\/doc_tag?post=82786"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}