Singularity Prevention
| Description |
A singularity is a pose that restricts the motion and the ability to position the robot. The robot arm can stop moving or have very sudden and fast movements if it approaches a singularity. As the robot arm approaches a singularity position, resistance increases making it feel heavy to position. Singularity can cause injury to a person within reach of motion of the robot arm, end effector and workpiece.
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