Dobot CR A Series User Guide
Issue V1.3 (2023-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
17
Elbow singularity
When the upper arm and forearm are in the same line, it will lead to singularity, as shown in
Figure 4.6.
Figure 4.6 Elbow singularity
Wrist singularity
When the J4 axis and J6 axis are parallel, it will lead to singularity, as shown in Figure 4.7.
Figure 4.7 Wrist singularity
Emergency stop time and distance
When the J1~J3 axes trigger an emergency stop at 100% speed, maximum load and maximum
arm span, the braking time and distance of each joint are shown in the table below.
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