I have encountered a problem with the GoFa (CRB15000). When I linearly traverse a path from a point (with y=0) below the home position to a point (with y=0) above the home position, the robot jumps into an error "near singularity".
The robot should not get into a wrist singularity because axis 4 and 6 of the GoFa are not aligned even with axis 5 = 0? With SingArea I can't solve the problem either, but if I use ConfL \Off the movement works. Why is that so?
CONST robtarget below:=[[570,0,550],[0.707106792,0,0.707106771,0],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget above:=[[570,0,1050],[0.707106786,0,0.707106776,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];