Motion
Singularity
A singularity is a robot configuration where two or more joint axes align, causing the controller to lose a usable solution for smooth Cartesian motion.
Near a singularity, small changes in tool position require very large, fast joint moves, which can trigger a following error or velocity fault.
Common types include wrist singularities, where axes 4 and 6 line up, and shoulder or elbow singularities near the reach limit.
Related terms
inverse kinematicswrist flipfollowing errorjoint space
Common questions
- What does Singularity mean?
- A singularity is a robot configuration where two or more joint axes align, causing the controller to lose a usable solution for smooth Cartesian motion.
- Why does Singularity matter?
- Near a singularity, small changes in tool position require very large, fast joint moves, which can trigger a following error or velocity fault.