Dobot CR20A - Home Posture; Singularity Point; Shoulder Singularity

Dobot CR A Series User Guide
Issue V1.3 (2023-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Home posture
When the robot arm is in the vertical state shown in Figure 4.1, the angle of each joint is 0
degree. This posture is called the home posture. The home-posture stickers (transparent sticker with
a blue line in the middle for alignment), as shown in Figure 4.4, are attached to each joint of the
robot arm. When the joint is 0 degree, the stickers on both sides of the joint are aligned.
Figure 4.4 Home point sticker
If the home posture of the robot arm changes due to the replacement of the transmission parts
or the collision, you can move the robot arm to a state where all the home-posture stickers of each
joint are aligned. Then calibrate the home posture through the control software.
Singularity Point
Shoulder singularity
When the intersection of the J5 axis and the J6 axis of the robot arm is located in the plane
formed by the J1 axis and the J2 axis, it will lead to singularity, as shown in Figure 4.5.
Figure 4.5 Shoulder singularity