Difference between revisions of "Elbow Singularity of PUMA robots"
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= Elbow Singularity of PUMA robots = | = 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 but a value offset by atan ( | + | 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)! |
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| + | [[File:RobotSingularity.png]] | ||
Revision as of 15:23, 16 March 2016
Elbow Singularity of PUMA robots
In case PUMA robot has nonzero a3 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)!
