[jahanbin ardebili]

I'm concerned about potential singularity issues when using linear motion in RoboDK (for online programming). As you know, the software doesn't automatically check for singularity conditions.

Is there a method or snippet code to identify and avoid singularity points during linear motion before executing program on cobot? 

Thank you for your time and assistance.

[Albert]

This statement is incorrect:
As you know, the software doesn't automatically check for singularity conditions.

RoboDK will warn you of singularities. You can update your tolerances here:

1. Select Tools-Options
   
2. Select the Motion tab
   

The simplest check for movement issues is that you can simply perform your movements using MoveL and RoboDK will raise an exception if the movement is not feasible. You can also use SolveIK to check if a specific target is reachable. Iif the returned solution of SolveIK is an empty list it means it is not reachable.

[jahanbin ardebili]

Appreciate the assistance.