Elbow Singularity of PUMA robots

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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)!

RobotSingularity.png

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