I am planning to implement joint space interpolation method to pass through the wrist singularity area of a six-axis robot arm.
But here comes the first question: How to check if a path passes through its wrist singularity? If it does, where does it start and end? Only with these information, I can further plan multiple joint motions between the singularity area.
If it is a SCARA robot, to check if a straight line path passes through its hand singularity is pretty easy, as it is happening in a 2D space.
What about six-axis robot? I am wondering if there is a magical math equation that is able to find out the singularity entry and exit point for a path happening in a 3D space.
I have found plenty of methods to deal with passing through singularity, but not one is to determine where the singularity it is. Or did I not try hard enough. Any thoughts are appreciated!