[FEATURE] Singularity handling

[acf986]

Is your feature request related to a problem? Please describe. Currently, when the robot goes near to the singularity, it will suddenly move very fast before the emergency stop, which is quite dangerous. Like shown here: link to my youtube

Describe the solution you'd like There should be a singularity avoidance mechanism (that can be enabled or disabled by the user) so that the robot arm moves smoothly cross the singularity. Like shown here: link to my youtube

Describe alternatives you've considered It shall at least stop without reaching at high speed move.

Additional context NA

[pzhu-flexiv]

@acf986 Please kindly provide your robot software version.

[acf986]

@pzhu-flexiv Here are the version information:

[2023-10-09 19:16:39.556] [info] ================================================
[2023-10-09 19:16:39.556] [info] ===              Flexiv RDK 0.8              ===
[2023-10-09 19:16:39.556] [info] ================================================
[2023-10-09 19:16:39.557] [info] [flexiv::Robot] Network service started [RT:99]
[2023-10-09 19:16:40.57] [info] [flexiv::Robot] Connection established
[2023-10-09 19:16:40.59] [info] [flexiv::Robot] Server information:
[2023-10-09 19:16:40.59] [info] Serial number: Rizon 4s-062060
[2023-10-09 19:16:40.59] [info] Degrees of freedom: 7
[2023-10-09 19:16:40.59] [info] Software version: v2.10.5
[2023-10-09 19:16:40.63] [info] [flexiv::Robot] Initialization complete

In the first video, sendCartesianMotionForce command is used. In the second video, a self-made Cartesian-inverse-dynamics controller is used.

[pzhu-flexiv]

@acf986 This bug has been solved in robot software v2.10.7, which will be soon released with that works with RDK v0.9