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= Elbow Singularity of PUMA robots = 

In case PUMA robot has nonzero a<sub>3</sub> parameter. Elbow singularity point (switch between ABOVE and BLOW) is not on J3 90 ''(or -90 depends on the THETA offset) '' but a value offset by atan (d4/a3)!

[[File:RobotSingularity.png]]

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