I have a painting robot application with a KR30 L16-2
the trajectory are given by a PC (C# application)
then the robot execute what is receive from the computer
so sometimes it happens (often..) that the robot pass near singularity positions (A5 ~ 0°)
i arrive to avoid the singularity alarms by setting $CP_VEL_TYPE to #VAR_ALL
but in the neighborhood of A5~0° i have a consequent slowdown of the TCP ($vel_act) while A4 A6 axis increase their speed
it's not good for painting results!
so in order to optimise the global performance
I want to know if someone have any solution to
avoid or to reduce this slow down.
i can not understand that is not possible to guarantee a constant speed when the A5 comes near 0°
it's a well-known problem.
..if someone have an idea i buy!