Dobot CR Series User Guide
Issue V1.1 (2023-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Figure 4.5 Shoulder singularity
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
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