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1:38
YouTube
João Cunha
Universal Robots Singularities: Visualisation in Polyscope
ISO-10218 defines a singularity as a ”condition caused by the collinear alignment of two or more robot axes resulting in unpredictable robot motion and velocities”, and should, therefore be avoided. There are three types of singularities: wrist, shoulder, and elbow singularities: - Wrist singularities: Happen when the axes of joints 4 and 6 ...
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Mar 13, 2021
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