Robot's Singularity
Singularity means the robot has infinite solutions (infinite possibilities of axes angles) to reach a specific position. While the forward kinematics is a unique transformation the inverse kinematics has the problem of multiple solutions and infinitive solutions (singularities). The following sketch shows an example for multiple solutions (left) and for a singularity. In the sketched case an infinitive number of pairs (q4, q6) can perform to achieve the demanded orientation. When the robot faces a singularity during real programming, it stops and you need to solve this singularity and avoid it during programming. The wrist singularity is the position in which axes A 4 and A 6 are parallel: The robot is stopped as soon as one of the maximum permissible values for velocity or acceleration is exceeded. This can happen, for example, in the case of a robot motion near the wrist singularity (extended wrist axis position). Singularity will not be disc