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File Version: 3.5 34 / 74 JAKA Pro Series Hardware User Manual
8.5
Robot Singularity
When a robot is at a singularity, the following effects occur:
1.
At singularities, robots cannot move in one or more directions.
2.
Near the singularity, the robot cannot find a suitable set of joint angles for the TCP to move to the desired
position.
3.
Near the singularity, the robot joint should move at high speed to achieve the desired TCP speed.
4.
Intense movements near singularities will result in accident and shorten the lifespan of robot joints.
Singularities are positions described in Cartesian space that have no impact on MoveJ. When the robot is at a
singularity, replace the Cartesian movement by MoveJ if the motion can be achieved by MoveJ. If there is
singularity in the middle of the robot’s motion path, you can change the robot's trajectory to bypass the singularity.
You can also change the robot's mounting position or the size of the end effector to change the value of Cartesian
points in the robot's joint space.
The JAKA Pro series robots have three types of singularities: shoulder singularities, elbow singularities and wrist
singularities. Descriptions and avoidance methods of the singularity are in the table below.
Name Description Example
Shoulder
singularity When the axes intersection of the joint 5
and joint 6 lies on the plane of axes of the
joint 1 and joint 2, the robot is at shoulder
singularity.
Ways to
avoid
shoulder
singularity
Ensure that robot TCP is not directly above
the robot base. There are positions directly
above the robot where the TCP cannot
reach and the robot may in shoulder
singularities during approaching this
position.
Do not use MoveL when the joint 1
difference between two points is around
180°. When the difference is about 180°,
the robot may at shoulder singularity. You
can use MoveJ to avoid singularity, or set
an intermediate transition point outside the
shoulder singularity range.
Elbow
singularity When the joints 2, 3 and 4 are coplanar or
when the joint 3 is 0°, the robot is at elbow
singularity.
Ways to
avoid elbow
singularity
When the robot is at elbow singularity, it
indicates that the target position is close to
the limits of the working range of the robot.
At this point, it is necessary to adjust the
robot mounting position or extend the
length of the end effector.