182
cause 1st Joint speed too high.
Figure 2.1 850 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
Summary of Contents for 850
Page 1: ...1...
Page 72: ...72 4 The control box PC and network switch are connected by Ethernet ca ble...
Page 74: ...74 Step3 Open the Properties Step4 Open the IPV4...
Page 89: ...89 Cancel Cancel the selection Save Save the modified data Discard Discard the modified data...
Page 145: ...145 1 6 6 GPIO Control Box and End tool interface...
Page 149: ...149 1 6 7 End Effector...
Page 197: ...197 State 6 Stop Generally use studio will generate state 6 and state 6 is also a kind of stop...