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Avoid Singularity

#1
Hello!

Another question about the possibility of avoiding singular positions of the robot: under Options -> Motion we have the following options:
1.) Tolerance to avoid Wrist singularity (deg)
2.) Tolerance to avoid Elbow singularity (deg)
3.) Tolerance to avoid Front / Back singularity (deg)

I wonder what means 'Tolerance to avoid Front / Back singularity'? Does this refer to 'Shoulder singularity' or does it mean something different?

I also wonder what exactly means 'Tolerance to avoid 180 deg turns (deg)'?

Best Regards
Mitja GOLOB
#2
Hi there,

You are right for the "Front/Back singularity".
For the 180 turns, that refer to trying to rotate your tool 180 while performing a linear movement.

Have a great day.
Jeremy
  




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