Hello Fubini, Thank you for your answer.
You will notice that this is my first post on this forum. "What a welcome!"
If I posted, it is because I have already exhausted the official methods.
I have no difficulty in taking my phone, be reassured.
What could a forum do well if the manufacturer still had the opportunity to respond.
Also, to answer you, I am indeed between 2 integrations of machines and I therefore have a little time to do tests on the different solutions facing the singularity at kuka.
I thank you for the time you took to answer me.
I will find.........
Ps: my licence is valid.
Ps Ps: If we can philosophize on this site ..... Me what I do not understand .... How there are people who respond on sites to prejudge and say nothing. Maybe to get rid of it for free. More tolerance and less prejudice will do a lot of good for some in this world.
you have the variable
Thank you all for your support,
MOM, to answer your question, I tested in T1 and AUT.
To be clearer in my problem, I have made simulation videos for you.
These videos are in T1 but the behavior is the same in AUT. I tested.
On the first video, we can see the trajectory that passes through the singularity. All variables are at default values. In T1 axis 4 turns 180 ° but in AUT there is no overspeed fault.
On the second video, I pass $ ORI_TYPE = #JOINT. We can see that the robot passes the singularity with a big reorientation of the tool. The trajectory is the same in AUT.
On the third video, I reset $ ORI_TYPE = # CONSTANT and I set the variable $ SINGUL_STRATEGY to 1. In T1 axis 4 turns 180] but in AUT we don't have the overspeed fault. Why does the robot not adopt another strategy since SINGUL_STRATEGY = 1
Thank you "Panic mode", I am very happy that you answer me. I have seen many of your posts. Thank you for sharing your great skills. For my problem .... I am in Kss 8.6. I know the peculiarities of singularity but what I'm trying here is to evaluate the efficiency of the singul_strategy variable compared to ori_type. Even though I change the value of the singul_strategy variable, I don't see any change. Normally when passing through the alpha5 singularity zone, I will see an adaptation of the orientation of the TCP to pass the singularity. NO? thank you
Hello, thank you very much for your feedback, I am well aware that the singul_strategy orientation can be dangerous but I would still like to try it out. the variable is available in option.dat and I only see this to activate it. If you have any leads ...? thank you in advance
Could you please help me.
I am testing on a kuka krc4 robot.
I tested several configurations to pass the singularities like $ CP_VEL_TYPE or $ ORI_TYPE = #JOINT or $ SINGUL_POS .
For these 3 variables, I can tell you the difference in behavior.
But with $ SINGUL_STRATEGY I can't seem to see the difference.
If in Option.dat I put 1 or 0, it doesn't change anything.
My program is very simple:
from XP1 to XP2, I go through a singularity $ SINGUL_DIST  at 0.2.
but the robot does not apply orientation to pass the singularity.
Do I go about it badly to highlight it?