Hi everyone!
I have a problem with understanding extended sungularity in kuka robots. I really don't understand how does it work. In manual I read:
QuoteDisplay MoreIn the extended position, the wrist root point (= center point of axis A5) is located in the extension of axes A2 and A3 of the robot.
The robot is at the limit of its work envelope.
Although reverse transformation does provide unambiguous axis angles, low
Cartesian velocities result in high axis velocities for axes A2 and A3.
If the end point of a PTP motion is situated in this extended position singularity,
the robot controller may react as follows by means of the system variable
$SINGUL_POS[2]:
0: The angle for axis A2 is defined as 0 degrees (default setting).
1: The angle for axis A2 remains the same from the start point to the end
point.
I have some question:
In which positions this singularity might be reached (horizontally, vertically or at all positions when the wrist root point is located in the extension of axes A2 and A3 of the robot )?
How robot will move, when variable $SINGUL_POS[2] means 0 or 1?
Regards, sabbonis.