Automate 2023

Optimizing Robot Trajectories

Optimizing Robot Trajectories

Ilian Bonev, Cofounder, Mecademic

A robot arm is said to be in a singularity when its end-effector instantaneously loses the ability to move in certain directions, even though no joint is at a limit. A singularity is a physical blockage, but it is also associated with some numerical problems. While most robots cannot pass through singularities in Cartesian mode, they can pass near them, which typically leads to a severe slow-down of the end-effector. Singularities are therefore obstacles in the workspace of a robot and should be avoided at the design stage of a robot cell. In this presentation, the singularities of several typical robot arms will be described and strategies for avoiding these singularities will be given.


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