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Best ways to avoid singularity?

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?
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.

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