I have to pick plates from a pallet and at some point I get rather close to singularity.
I should use a lineair moven because I do not have the place make a curved movement as with joint movement.
I suppose adding 'Wjnt' at the end of my lineair movement could be a solution for this.
But I don't know how the Wjnt will behave. As I understood the TCP would follow the same line as without the Wjnt property.
But the arm itself (axis 3 - 6) will it move a lot out of the normal (without Wjnt) trajectory?
Will the speed stay constant if a singularity point is reached?
If a singularity point is not run through, is the behavior of the axes then identical with and without Wjnt property?