Hello all,
Been reading discussions in this forum which helped us tremendously. thanks for all the knowledge sharing !
We have a 'KR6 agilus R900 2' set-up in a 'pick & place' application so that it approaches a tote and the pieces within along the Z axis from above.
Problem occurs when in some of the picking / placing scenarios we pass through the Wrist axes singularity (A4 & A6 aligned & A5 is ~0°)
Seldom, we encounter a 'SW limit switch' of A4 (happened twice while retracting rather than approaching) from which recovery is AFAIK only manual with boots on the ground
Changing the mechanical setup is a last result - as in order to avoid working within a possible singularity region we would probably need a different size robot (given all mechanical constraints of our situation).
So, while lookin for a solution in the SW realm - One thought to overcome this is to calculate the area of singularity and pass it using PTP motion with defined Status & Turn values to then continue with a linear motion. Meaning when A5 is approaching 'small values' change to PTP and continue until in safe distance past the singularity. From there continuing linearly. (It is important to maintain a linear approach to the picked piece to avoid collisions within the tote interior, hence we use strictly linear motions at the moment + PTP are perceived as risky in that confined environment)
Would appreciate any feedback regarding the approach suggested
Anyone has any experience with such an issue ? and proven solutions ?
Also - In case of 'SW limit switch' error - is there a known way (SW , HW / Both) to enable automatic recovery ?
Meaning - enabling the robot to perform 'reversed motion' without the need of a human in the loop ?
Thanks a lot !