Avoiding Singularity

SteveMob

Hello,

I have a question regarding singularity issues. If I have a Linear Movement and at some point during that movement, the robot runs into singularity, is there a way to essentially tell the robot to deviate from the path ever so slightly to get out of or avoid singularity, and then resume it's original path again? If this is possible, can someone tell me how I might go about doing this?

Thanks,
SM

Neily03

Use the command  - "SingArea \Wrist;"

"The orientation of the tool may be changed slightly to pass a singular point (axes 4 and 6 in line).

Robots with less than six axes may not be able to reach an interpolated tool orientation. By using SingArea \Wrist the robot can achieve the movement but the orientation of the tool will be slightly changed."

And then "SingArea \Off" when you're done.

SteveMob

Thanks! I will try that.