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.
Hi, do you have any update about the problem?
We added joint constratints, to let the planner know that we could never make the robot go to that configuration..