What is the best way to avoid a wrist singularity?
I was trying to find solutions to avoid singularities, wrist singularities in particular. In a 6 DOF arm, what's the best way to avoid Joints 4 and 6 lining up?
One possible solution is to offset the tool by a small amount (~5 - 10 degrees) but I was wondering if there's some way we could do this using software. We're using a 6 DOF ABB arm. Any help would be much appreciated.
Asked by Sidd on 2017-09-13 12:33:50 UTC
Comments
Hi, do you have any update about the problem?
Asked by pdmike on 2018-02-24 06:20:36 UTC
We added joint constratints, to let the planner know that we could never make the robot go to that configuration..
Asked by Sidd on 2018-03-06 21:05:33 UTC