I have scratched my head for days on this. Does anyone else have had the same issue? I am running Roboguide/HandlingPRO V8.0 with a R-2000iB/165F robot. I am not even close to any singularity (see attached screenshot)
Roboguide 'MOTN-023 in singularity' on any 6-axis robot but not on 4-axis
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David Jimenez -
January 17, 2019 at 4:25 PM -
Thread is Resolved
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Your screenshot definitely shows you in singularity. When J5 angle is zero, the J4 and J6 rotation axes are aligned giving an infinite number of kinematic solutions for reaching your position. This post does a pretty good job of explaining singularities: https://blog.robotiq.com/why-singularities-can-ruin-your-day
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Get close to lining up any combination of J1, J4, & J6, & you got singularity.
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J1 and J6 are lined up in any application with tool hanging downwards, which means most of pick and place applications.
This does not cause singularity. -
J1 and J6 can be parallel with no problem, but their axes can't be co-linear.
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You should watch this video on the subject. Its an abb, but these singularities are present in all robots with a spherical wrist.
External Content www.youtube.comContent embedded from external sources will not be displayed without your consent.Through the activation of external content, you agree that personal data may be transferred to third party platforms. We have provided more information on this in our privacy policy.In short, there is wrist singularity, where J4 and J6 are planar, there is shoulder singularity, where wrist center is in line with J1, and finally there is elbow singularity, where J2, J3, and wrist center are in a line.
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Your screenshot definitely shows you in singularity. When J5 angle is zero, the J4 and J6 rotation axes are aligned giving an infinite number of kinematic solutions for reaching your position. This post does a pretty good job of explaining singularities: https://blog.robotiq.com/why-singularities-can-ruin-your-day
Could it also be because axis 4, 5 and 6 are poorly mastered?
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No. No need for mastering in roboguide.
Noone should dig out a 4 year old thread, where the answer already was given
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No. No need for mastering in roboguide.
Noone should dig out a 4 year old thread, where the answer already was given
MMmquela, ahora resulta que no puedo preguntar nada, no esperaba menos
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Don't understand what you mean. You should write in English.
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Don't understand what you mean. You should write in English.
"Hell sake, now it turns out that I can't even ask, I didn't expect anything less" That's what he said
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