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).
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 discovered in the T1 mode, so the programmed
movement may look OK but then when switching to Automatic mode, the velocity of
A4 or A6 will be exceeded and robot will stopped.
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