FANUC Robot: Introduction and utilization method of singularity evasion function.
- Categories:Industry News
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- Time of issue:2021-09-15
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(Summary description)Singularity overview: due to restriction of mechanical or soft limit, most 6-shaft articulated robots will have the circumstances insoluble by inverse kinematics in their movement space, i.e. a coordinate-based planned movement cannot be reversely converted to rotation angle of each articulated shaft of a robot clearly. These points insoluble by inverse kinematics in the robot work space are known as “singularity”. Robot singularity can be roughly divided into three types.
FANUC Robot: Introduction and utilization method of singularity evasion function.
(Summary description)Singularity overview: due to restriction of mechanical or soft limit, most 6-shaft articulated robots will have the circumstances insoluble by inverse kinematics in their movement space, i.e. a coordinate-based planned movement cannot be reversely converted to rotation angle of each articulated shaft of a robot clearly. These points insoluble by inverse kinematics in the robot work space are known as “singularity”. Robot singularity can be roughly divided into three types.
- Categories:Industry News
- Author:
- Origin:
- Time of issue:2021-09-15
- Views:0
Singularity overview: due to restriction of mechanical or soft limit, most 6-shaft articulated robots will have the circumstances insoluble by inverse kinematics in their movement space, i.e. a coordinate-based planned movement cannot be reversely converted to rotation angle of each articulated shaft of a robot clearly. These points insoluble by inverse kinematics in the robot work space are known as “singularity”. Robot singularity can be roughly divided into three types.
Shoulder Singularity: It appears when the center of a robot wrist is on the same line with J1 shaft articulation. Under the circumstance, articulated shaft 1 and 4 will try to rotate 180 degree instantaneously.
Elbow Singularity: It appears when the center of a robot wrist is on the same plane with articulated shaft 2 and 3. Elbow singularity looks like the robot “stretches too far”, locking the elbow in certain space position.
Wrist Singularity: It appears when two wrist shafts (articulated shaft 4 and 6) are on the same line. This will cause these articulations try to rotate 180 degree immediately.
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