{"id":75248,"date":"2022-10-28T14:12:27","date_gmt":"2022-10-28T06:12:27","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&p=75248"},"modified":"2023-04-21T11:55:49","modified_gmt":"2023-04-21T03:55:49","slug":"singularity-point","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/en\/docs\/singularity-point\/","title":{"rendered":"What is the singularity point in Techman Robot"},"content":{"rendered":"
Examples are valid for:\r\nTMflow Software version: 1.76.6300 or above.\r\nTM Robot Hardware version: All versions.\r\nNote that older or newer software versions may have different results.<\/pre>\n
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Singularity Point<\/b><\/h1>\n
The motion of an articulated robot is often limited by the kinematic design, and cannot perform Cartesian motion control under all joint positions. The joint position that will cause the robot to be unable to perform Cartesian control is a singularity point. When the robot encounters a singularity point, it will stop motion and initiate a warning.<\/p>\n
Three types of singularity point for TM Robot:<\/p>\n
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  1. Internal Singularity Point in Space<\/li>\n
  2. Extensible Singularity Point in Space.<\/li>\n
  3. Wrist Singularity Point in Space.<\/li>\n<\/ol>\n
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    Internal Singularity Point in Space: <\/b><\/h2>\n
    The distance from the intersection of the rotational axes of the fifth joint and the sixth joint to the extended line of the rotational axis of the first joint is defined as Roffset. The cylindrical space that is formed by Roffset as the radius and centered on the extended line of the rotational axis of the first joint is the Internal Singularity Point in Space. As soon as the robotic arm approaches the Internal Singularity Point in Space, the arm will stop and issue a warning. The Roffset values of each product series are shown in the following table:<\/p>\n
    \"\"<\/a> \"\"<\/a><\/p>\n
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    Extensible <\/b>Singularity Point in Space: <\/b><\/h2>\n