UFactory xArm, Руководство пользователя

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cause 1st Joint speed too high.
Figure 2.1 xArm6 singularity
2.Characteristics
The characteristic of the singularity is that the planning movement
cannot be performed correctly. Coordinate-based planned
movements cannot be explicitly translated into joint motions of
each axis. When the robot performs motion planning (linear,
circular, etc., excluding joint movements) near the singularity point,
it will stop to avoid high instantaneous speed of the joint when it
passes the singularity point. Therefore, try to avoid the singularity
point or pass the singularity point through joint motion.
3.Processing method for singularity point