Singularity Avoidance

[pouyan-asg]

Summary

I have a general question. Is there any inherit feature for the Gen3 robot to avoid singularity? In some Cartesian mode, I need the robot to pass singularities without stopping.

Thank you in advance

[felixmaisonneuve]

Hi @pouyan-asg,

Yes, the arm is supposed to deviate slightly from its trajectory to avoid going into singularities when moving in cartesian mode.

Best, Felix

[pouyan-asg]

Thanks @felixmaisonneuve ,

So in high-level control, robot itself tries to pass singularity by deviation slightly. Is it right? I should not do anything else?

[felixmaisonneuve]

exactly. You should not have anything to do