UFactory 850 - Singularity

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pose 2)
Parameter
pose1
Cartesian coordinates
[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]；
pose2
Cartesian coordinates
[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]；
percent
Percentage of arc moved
is_radian
If is_radian = True, the unit of roll / pitch / yaw is rad;
If is_radian = False, the unit of roll / pitch / yaw is °;
speed
TCP motion speed (mm / s, rad / s);
mvacc
TCP motion acceleration (mm / s
2
, rad / s
2
);
mvtime
0, reserved;
wait
If wait = True, wait for the current commands to be sent before
sending the next commands;
If wait = False, send the next commands directly;
2.3. Singularity
1.Concept
Singularities occur when the axes of any two joints of a robotic arm
are on the same straight line. At the singularity point, the robot's
degrees of freedom will be degraded, which will cause the angular
velocity of some joints to be too fast, leading to loss of control. A
common situation is that when the wrist joint (the penultimate one)
is at or near the axis of the first joint, singularity point will also
appear (see Figure 2.1), so the robotic arm should try to avoid
passing directly the central area near the base, which is likely to