Hi
I am working on a project that involves bin-picking with an ABB robot. Once in a while, the robot moves too close to a singularity, and stops with an error message. It is not easy to avoid this, as the movements of the robot are controlled by a vision system that does not have a full model of the robot. Does anyone know whether it is possible to handle this type of error (stops near singularities), and let the robot program continue without input from the operator? And if so, how to do it?
Thanks in advance!