Installation manual

Chapter 6 Programming
6-20
６．４．２．１ Singularity types
On singularity, there are three inner singularities (wrist, elbow and shoulder
singularity) and the outer singularity located out of the arm movable range.
＜Inner Singularity＞
Inside the arm movable range, the position/orientation cannot be controlled when a
joint angle is exceeded, or lowers the control accuracy.
Wrist Singularity…Rotational axes of E2 and W2-axis are linear. = W1-axis is 0
(E2 and W2-axis are indeterminate.)
Shoulder Singularity…the intersecting point of E2,W1 and W2 rotational axis is on the
S1 rotational axis. (the tip cannot be moved to left or right.)
Elbow Singularity…the intersecting point of E2,W1 and W2 rotational axis is on the
plane including the S2 and E1 rotational axis.
＜Outer Singularity＞
the target position/orientation are designated outside the movable range. It is
impossible to actuate the arm. It usually stops motion with an error indication or
cuts the target value.
Ｓ２
Ｅ１
Ｗ１
Ｗ２
Ｓ２
Ｅ１
Ｗ１
Ｗ２
Target Value
Ｓ１
Ｓ２
Ｅ２
Ｗ１
Ｗ２
Ｅ１
(the tip cannot be moved to left or right.)
(When the wrist is at foreground position, the arm
configuration cannot be performed which side it
should be.)
Ｅ２
Ｗ１
Ｗ２