Hi Adam! I had my first experience with Fanuc recently and my first project is piece handling in a die casting cell. Basically extract the piece in the die casting machine and at the end placing in a trimming press. I have faced a lot of challenges, and it was hard to make functions work like softfloat, home position from anywhere inside the cell and others. Your videos help me a lot. I had problems with singularity as well and many times I wondered “Why is it happening? What am I doing wrong?” Now it’s clear! Thank you very much! Keep teaching us! Greetings from Brazil!
Nice content …. Just bought my first robot and had only heard of singularity, didn’t know what it was….. thanks for the explanation, will undoubtedly save me some headaches in the future 😂😂😎😎👍👍
It took me a while to learn about singularity, with your video it was easier to understand. An important tip is not to disable singularity! Thanks. how the singularity avoidance function works?
The Singularity Avoidance option algorithm comes from the brilliant minds at FANUC who write the kinematics code. I'm certain it is FAR over my head :)
Equifinality is the term you seek, rather than "an infinite number of solutions". Because the actuators have resolution (they are discrete rather than continuous), there are not in fact an infinite number of solutions. It is simply a high-dimensional system with many possible combinations for a given end-effector position and orientation.
Very nice video Adam, thank you for this! I believe this will help lots of robot programmers to further their understanding of singularities, and how to incorporate mechanical design changes to avoid them.
Hello Adam, Nice video. In this case, your solutions are definitely the right ones -- you do need hardware changes. However, in certain situations, you might also try to reach an end-effector pose with a different configuration (back / front, elbow down / elbow up).
Great point! Changing robot configuration can also help. The best thing is preventing it altogether if possible, but at least there are plenty of solutions to fix it. :)
would lowering the work surface work aswell? as long as joint movements are used when moving from below the base to above it? My cobot is cart mounted so It's height is fixed, and raising the height of the work surface is undesirable
Watching this video again bc singularity came up in an email discussion. Honestly Adam, this is the most practical yet thorough video on singularity avoidance in applications.
A great video / information. Simple and easy to understand. Thank you. I have one question though. Does six axis manipulator with similar configuration have any other singularity. If there is, how many singularities are there?
Thank You again! The interesting part is, You are quite often releasing videos right about the same problems I am currently dealing with. Came to the same conclusion of using the wedge block for the tool.
