What is the best way to avoid a wrist singularity?

asked 2017-09-13 12:33:50 -0600

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.

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Hi, do you have any update about the problem?

pdmike gravatar imagepdmike ( 2018-02-24 05:20:36 -0600 )edit

We added joint constratints, to let the planner know that we could never make the robot go to that configuration..

Sidd gravatar imageSidd ( 2018-03-06 20:05:33 -0600 )edit