[Mike Wescott]

I have a Universal Robot mounted upside down on a linear rail.  I am planning to dynamically generate paths from drawings.  Singularities will occur.  Does RoboDK offer anything to help plan around/deal with them?

[Jeremy]

Hi Mike,

If you use "Curve follow project" to do your drawing, it will use the rotation around the Z of the TCP to avoid any singularities.
You can play with the "optimization parameters" to influence the way RDK will manage the singularity avoidance.

Have a great day.
Jeremy