Singular Point Avoiding Function

When the robot passes through points in proximity to a singular point or other points where the posture of the robot changes, which requires linear interpolation, use of the singular point avoiding function enables the robot to move smoothly.

 

Main applications:
Used with a program that employs a palletize library

Singular Point Avoiding Function | Funktion zur Vermeidung singulärer Punkte | DENSO Robotics Europe

Features

During a continuous path motion, when the robot passes through a singular point or its proximity, a specific axis tries to move instantly and suddenly to maintain the figure, causing an error of overspeeding or of exceeding of software limit. The singular-point-avoiding function avoids such an error caused by a singular point.

Supported Robots

  • ＶＰ series
  • ＶＳ series（050/060/068/087/ 6556/6557）
  • ＶＭ series
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