Universal Robots UR30 - Singularity

6.4.1. Singularity
Description A singularity is a pose that restricts the motion and the ability to position the robot.
The robot arm can stop moving or have very sudden and fast movements when
approaching and leaving singularity.
WARNING
Make sure that robot motion near a singularity does not create hazards
to anyone within the range of the robot arm, end effector, and
workpiece.
•
Set safety limits for the speed and acceleration of the elbow joint.
The following causes singularity in the robot arm:
•
Outer workspace limit
•
Inner workspace limit
•
Wrist alignment
Outer
workspace
limit
The singularity occurs because the robot cannot reach far enough or it reaches outside of
the maximum working area.
To avoid: Arrange the equipment around the robot to avoid it reaching outside of the
recommended workspace.
UR30 45 User Manual
6.Assembly and Mounting
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