{"id":107,"date":"2013-04-05T12:07:27","date_gmt":"2013-04-05T16:07:27","guid":{"rendered":"http:\/\/coro.etsmtl.ca\/blog\/?p=107"},"modified":"2019-08-29T20:41:42","modified_gmt":"2019-08-30T00:41:42","slug":"singularities-in-six-axis-vertically-articulated-industrial-robots","status":"publish","type":"post","link":"https:\/\/coroblog.etsmtl.ca\/?p=107","title":{"rendered":"Singularities in six-axis vertically-articulated industrial robots"},"content":{"rendered":"<p>Vertically-articulated six-axis serial robots exhibit three types of singularities: wrist singularities, shoulder singularities, and elbow singularities. A wrist singularity occurs when axes 4 and 6 are coincident. A shoulder singularity occurs when the wrist center lies on a cylinder centered about axis 1 and with a radius equal to the distance between axes 1 and 4. Finally, an elbow singularity occurs when the wrist center lies in the same plane as axes 2 and 3.<\/p>\n<p>When a robot is controlled in Cartesian mode and passes near a singularity, the speed of some joints becomes suddenly very large and the Cartesian velocity of the end-effector is significantly reduced. For this reason, trajectories that make the robot pass near singular configurations should be avoided.<\/p>\n<p>The following video illustrates the three types of singularities:<\/p>\n<p><center><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/lD2HQcxeNoA\" frameborder=\"0\" allowfullscreen><\/iframe><\/center><\/p>\n<p>An excellent reference on this topic is the following tutorial: <a target=\"_blank\" href=\"https:\/\/mecademic.com\/resources\/Singularities\/Robot-singularities.html\">What are singularities in a six-axis robot arm?<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Vertically-articulated six-axis serial robots exhibit three types of singularities: wrist singularities, shoulder singularities, and elbow singularities. A wrist singularity occurs when axes 4 and 6 are coincident. A shoulder singularity occurs when the wrist center lies on a cylinder centered about axis 1 and with a radius equal to the \u2026 <a class=\"continue-reading-link\" href=\"https:\/\/coroblog.etsmtl.ca\/?p=107\"> Continue reading <span class=\"meta-nav\">&rarr; <\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[13],"tags":[],"class_list":["post-107","post","type-post","status-publish","format-standard","hentry","category-industrial-robots"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/p3r93C-1J","_links":{"self":[{"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=\/wp\/v2\/posts\/107","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=107"}],"version-history":[{"count":8,"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=\/wp\/v2\/posts\/107\/revisions"}],"predecessor-version":[{"id":568,"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=\/wp\/v2\/posts\/107\/revisions\/568"}],"wp:attachment":[{"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=107"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=107"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/coroblog.etsmtl.ca\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=107"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}