Safety Manual TECHMAN ROBOT Safety System 3.3 36
Figure 4: Extensible Singularity Point in Space
Wrist Singularity Point in Space:
When the rotational axes of the fourth and the sixth joints are parallel, the robot will enter the Wrist Singularity Point
in Space. At this time, the motion of the arm will cause a large-angle displacement of the fourth joint, but it will be
stopped due to stop criteria of motion speed. Once the robot enters the Wrist Singularity Point in Space, it will stop
and report an error.
Figure 5: Wrist Singularity Point in Space
Maximum
workspace area
Extensible Singularity Point in Space
The maximum working range can be achieved when the third joint is almost at zero degrees
When the fourth and sixth joint are nearly parallel, the robot is about to enter the Wrist
Singularity Point in Space.
