【ECEN019】Robot Singularity of EC series

The cause of Singularity

    Due to machanical limitation or software limitation, there are cases that inverse kinematics cannot be properly solved in the motion space, which means the angles of each joint cannot be calculate from the Cartesian coordination. The positions that inverse kinematics cannot be calculated are called singularity points.

Result of Singularity

    Robot is not free to perfrom certain motions.

    The limit of angular velocity is approaching infinity, which cause the robot to lose control and even to damage surrounding personnel, device or even the robot itself.

    Cannot solve inverse kinematics.

Singularity point of EC series robot

    Wrist Singularity:Robot Joint 4 and Joint 6 are parallel.


    Elbow Singularity:Joint 2, Joint 3 and Joint 4 are in the same plane.


    Shoulder Singularity:Joint 1, Joint 2 and Joint 6 are in the same plane.


Solutions

  1. Avoid area close to singularity point when jogging the robot or designing motions.
  2. Add small value of angle to tool frame will reduce the chance to enter the singularity point.
  3. Install the End Effector with small value of angle will reduce the chance to enter the singularity point.
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