Introduction
The American National Standard for Industrial Robots and Robot Systems defines singularities as “a condition caused by the collinear alignment of two or more robot axes resulting in unpredictable robot motion and velocities”.
Therefore, the three types of singularities are defined by which joint alignments cause the problem:
Wrist singularities
– These happen when two of the robot’s wrist axes (joints 4 and 6) line up with each other. This can cause these joints to try and spin 180 degrees instantaneously.
Shoulder singularities
– These happen when the center of the robot’s wrist aligns with the axis of joint 1. It causes joints 1 and 4 to try and spin 180 degrees instantaneously. A subset of this is an Alignment Singularity, where the first and last joints of the robot (joints 1 and 6) line up with each other.
Elbow singularities
– These happen when the center of the robot’s wrist lies on the same plane as joints 2 and 3. Elbow singularities look like the robot has “reached too far”, causing the elbow to lock in position.
Owen-Hill, A. O., & R.I. (2016, March 2). 3 types of robot singularities and how to avoid them. Robohub. https://robohub.org/3-types-of-robot-sin....
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If the value is less than 0.2, it is close to the singularity pose.
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