Singularity in Robcad

[er_rahulb]

Hi All,

I am currently working in BIW Environment, specially on Robcad. I want to know about Singularity. Plz help me by providing anything related with this term.

waiting for ur reply

 

Regards

Rahul

[simspec]

Roughly - when you move the robot in cartesian and multiple joints (1 & 6, 4 & 6) line up so that the robot wants to change configurations mm by mm. -So joints go from one extreme to the other extreme and back again.

Adds lots of wear and tear to the robot and robot is not fully under control (also manufactures put maximum speeds on the joints, so it really slows the robot down).

=> Try to avoid moving in cartesian as much as possible and when you do try to keep joints (1& 6, 4 & 6) from being in line.

[bobby]

Configuration singularities experienced by six-axis robots during straight-line
motion.
The V+ MV.SL_MOVE routine and the V+ SPEED.LIMIT parameter are discussed, as well as other measures for avoiding configuration singularities
http://www1.adept.com/main/KE/DATA/Procedures/Singularity/Singularity.pdf.
go through this link, which will give you some idea on this topic......according to my experience both from online & offline programming and as ur talking about Robcad, so  try to avoid teaching ur robot targets when all your robot J3,J4 & J5 are in-line (when you have 6-axis Robot)...... and we can avoid it in some robots by using wrist joint in Fanuc n same it will be some option in other robots also......

[er_rahulb]

Thank You very much, My dear friend.

I will go through Link, will understand term.

[Nan Roig]

Is much easy than this.
Singularity when Axis 4, 5 and 6 are at 0º.  There is no problem with Join or PTP but is a problem with LIN movements and the robot stop before reach this situation.
Try to move the robot from HOME (make a short path in LIN) to some single axis (X, Y or Z) and you wil see what happend.
Also if you move the robot in manual you can see the 4th turning without control.

Nan