Functional Limits of each Robot Series
The different robot series (A, As, E, M/H, P Series) limit the use of functions as follows:
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Direct Teaching
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O |
O (Current-based) |
O |
O |
O |
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Direct Teaching
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X |
O (FTS based) |
O |
O |
O |
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Collision Detection |
O |
O (Current-based) |
O |
O |
O |
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Installation Pose Measurement |
X |
O (FTS based) |
O |
X(the robot can only be installed on the floor) |
X(the robot can only be installed on the floor) |
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Tool Weight Measurement |
X |
O (FTS based) |
O |
O |
O |
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Workpiece Weight Measurement |
X |
O (FTS based) |
O |
O |
O |
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Nudge Function |
X |
X |
O |
O |
O |
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Force Control |
O (setting available only in three translation directions, excluding rotation) |
O (FTS based) |
O |
O |
O |
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Compliance Control |
O (setting available only in three translation directions, excluding rotation) |
O (FTS based) |
O |
O |
O |
Functional Limits of force monitoring for each Robot Series
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Force control |
O (setting available only in three translation directions, excluding rotation) |
O (FTS-based) |
O |
O |
O |
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Compliance control |
O (setting available only in three translation directions, excluding rotation) |
O (FTS-based) |
O |
O |
O |
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Force monitoring (Teach Pendant) |
X |
O (FTS-based) |
O (Force value of “0” shown for the singularity section) |
O (Force value of “0” shown for the singularity section) |
O (Force value of “0” shown for the singularity section) |
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Force monitoring (DART-Studio) |
O (Force value of “0” shown for the singularity section) |
O (FTS-based) |
O (Force value of “0” shown for the singularity section) |
O (Force value of “0” shown for the singularity section) |
O (Force value of “0” shown for the singularity section) |
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Force monitoring (When using DRL commands:
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O (Force value of “0” shown for the singularity section) |
O (FTS-based) |
O (Force value of “0” shown for the singularity section) |
O (Force value of “0” shown for the singularity section) |
O (Force value of “0” shown for the singularity section) |
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Overview of Singularity
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When compared to a human arm, Axes 1 and 2 correspond to the shoulder joint.
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When compared to a human arm, Axis 3 corresponds to the elbow.
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Manual and automatic operations moving with joint rotation are not influenced by singularity.
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Joint movement, MoveJ commands, etc.
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Singularity only occurs during manual and automatic operation where the robot ends performing linear movement.
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Task movement, MoveL command, etc.
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In the singularity zone, force control or compliance control is unavailable.
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As the rotation speed of certain axes increase rapidly when a linear motion passes a singularity, it is possible for a Joint Speed Limit Violation or Joint Angle Limit Violation to occur.
How to avoid Singularity
Here are the singularity avoidance options provided by Doosan Robot:
Overview of Euler Angle
This can be visualized with steps 1 to 4.
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Then make the Right-Hand Rule Cartesian pose and make rotations Rz, Ry and Rx in sequential order.
