Ilir Aliu (@IlirAliu_)
2024-06-25 | ❤️ 151 | 🔁 27
What are robot singularities❓
A six-axis industrial robot arm has 3 types of robot singularity:
💡 Wrist singularities, elbow singularities, and shoulder singularities.
1️⃣ A wrist singularity occurs when the axes of joints 4 and 6 are coincident.
2️⃣ An elbow singularity occurs when the wrist center lies in the same plane as the axes of joints 2 and 3.
3️⃣ Finally, a shoulder singularity occurs when the wrist center lies in the plane passing through the axis of joint 1 and parallel to or passing through the axis of joint 2.
Credit: @Mecademic
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