Some typical examples of singularity positions for GoFa are shown here.
Typical wrist singularitiesTypical arm singularities
xx2300000099
xx2300000098
xx2300000100xx2300000101
For more information about singularity, see Technical reference manual - RAPID
Overview, section Singularities.
116 Product manual - CRB 15000
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.6.1 Information about software for the CRB 15000
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