I have problems with singularity on Bin picking cell. The Vision system is giving me location of the part (FRAME type information) and after i get the info that part is ready for picking i have PTP move 200mm above the location. Then i have LIN move to the point of picking.
I know that is LIN move problem for singularity and i already have set $CP_VEL_TYPE to #VAR_ALL. But is it possible that the robot chose another path that is not near singularity or what to use that resolve the problem?
In the attach is picture where the robot is in singularity.
ROBOT: KR16 1610mm
KRC: KRC4 standart
Thanks for reply.