Singularity problem with Fanuc LR_MATE_200iD

[tuantdang]

Dear Sir,
I test with Fanuc LR_MATE_200iD.
Just jog Y axis only but, the q4 change from 0 -> -90 (we don't need this change) as pictures below:

[4rtur1t0]

Dejar Tuang, As with most robots with a spherical wrist the position with q4=q5=q6 is a singularity. This mean that you cannot move un lines un the XYZ space. You can move the robot yo, for example q4=q5=q6=0.05 rad and then use the movements un XYZ. BEST regards! Arturo El jue., 28 jun. 2018 10:57, Tuan Dang <notifications@github.com> escribió:

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Dear Sir, I test with Fanuc LR_MATE_200iD. Just jog Y axis only but, the q4 change from 0 -> -90 (we don't need this change) as pictures below: [image: fanuc_rl_mate_200id_1] <https://user-images.githubusercontent.com/1951598/42024208-9f9d8c5c-7afc-11e8-9c26-7002dcbc62c7.png> [image: fanuc_rl_mate_200id_2] <https://user-images.githubusercontent.com/1951598/42024229-a7ea93fa-7afc-11e8-9d0c-216627604cb7.png> — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#3>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AI_kKgDJUBUr2QNkFulpO8usMTuXHvmoks5uBJpugaJpZM4U7AHo> .

[tuantdang]

Dear Professor,
Thank you very much for your answer.!

[4rtur1t0]

That's been a pleasure!