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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.
Note：
It is important to consider the cylindrical volume directly above and
directly below the base of the robotic arm when a mounting place for
the robotic arm is chosen. Moving the wrist joint(second last joint) close
to the cylindrical volume should be avoided if possible, because it
causes the joints to move fast even though the robotic arm is moving
slowly, causing the robot to work ineffificiently and making it diffificult
to conduct a risk assessment.
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