Singularity of Robot

In the inner singularity, the wrist root point is close to cylindrical as shown in below. The definition of cylindrical

radius , is distance between center of J1 and J6. Once robot arm close the inner singularity, robot arm

will stop and sent out a warning.

2.Extended singularity

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.

Processing steps:

While robot arm send out a warning because of inner singularity, user can press the FREE bottom to

get rid of warning. Please reconsider the position of the points or change the trajectory between the points.

Please avoid the robot trajectory between the points cross the inner singularity

3.Wrist axis singularity

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

Processing steps:

While robot arm send out a warning because of wrist axis singularity, user can press the FREE button to

get rid of warning. Try to move the robot along z-axis in tool base when J4 and J6 with identical axis angle

will cause wrist axis singularity. The picture below shows an example to prevent wrist axis singularity.

0x00000009

0x00000014

0x0000FF05