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Singularity in orientation
Research/Robotics
2015. 3. 12. 10:19
A singularity occurs when the middle rotation in the sequence makes the rotation axes of the first and third rotations parallel.
(A singularity in a three-angle sequence is sometimes referred to as gimbal lock.)
Think about the PUMA560 robot whose 4th joint and 6th joint are aligned. If 4th joint increases and 6th joint decreases with same rates at the same time, the orientation of end effector will not be changed.
So, we lose some degree of freedom!
* Ref :
[1] https://moocs.qut.edu.au/courses/814/learn
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