# Wrist joint motion (Wjnt) behaviour

• 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?

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• With Wjnt and a linear move, axis 1-3 move Linearly, while 4-6 moves in Joint.

You might want to change your Z angle by 5-10deg to keep it away from the singularity

• 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.

Why is it a problem if eventually not reaching singularity?

I suppose adding 'Wjnt' at the end of my lineair movement could be a solution for this.

Not necessarily.

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.

Yes.

But the arm itself (axis 3 - 6) will it move a lot out of the normal (without Wjnt) trajectory?

Yes, the arm may move a lot out of the trajectory without Wjnt.

Will the speed stay constant if a singularity point is reached?

This should not depend on Wjnt usage. If the singularity is reached, the speed will drop anyways.

If a singularity point is not run through, is the behavior of the axes then identical with and without Wjnt property?

No, the behaviour will be different, and the difference may be significant, though repeatable.

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