Installation manual

Chapter 6 Programming
6-19
６．４．２ Motion at the singular posture (singularity)
Awareness on RMRC control operation.
In RMRC control, arm is usually actuated by providing commands to the tip position
and orientation of the manipulator, calculating joint angle velocity to actualize.
When the tip takes a position/orientation called a singularity,
to maintain a consistent tip trajectory and motion velocity, it is
needed to instantly increase some joint velocity.
THIS OPERATION, IF ACTUALIZED, CAUSES ENORMOUS
DANGER, CREATING UNCONTROLABLE POSITION/ORIENTATION.
CAUTION