Figure 2.1 singularity
2.Characteristics
The characteristic of the singularity is that the planning movement
cannot be performed correctly. Coordinate-based planned movements
cannot be explicitly translated into joint motions of each axis. When
the robot performs motion planning (linear, circular, etc., excluding
joint movements) near the singularity point, it will stop to avoid
high instantaneous speed of the joint when it passes the singularity
point. Therefore, try to avoid the singularity point or pass the
singularity point through joint motion.
3.Processing method for singularity point
Case 1: Singularity encountered during robot teaching
a) Switch the robot coordinate system to a joint coordinate
system, and pass the singularity point through joint motion.
Case 2: Singularities encountered while the program is running
a) When encountering a singularity point while running the
program, you can modify the position and attitude of the
robot and re-plan the path to the target point.
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