Features
This is a service to allow the user to select a response policy when path deviation occurs due to the influence of a singularity in task motion. The following settings are possible for mode setting.
-
Auto Avoidance Mode(Default) : SINGULARITY_AVOIDANCE_AVOID
-
Path First : SINGULARITY_AVOIDANCE_STOP
-
Velocity Variable : SINGULARITY_AVOIDANCE_VEL
The default setting is Auto Avoidance Mode, which reduces instability due to singularities but reduces path tracking accuracy. In the case of Path First setting, if there is a possibility that instability may occur due to the influence of singularity, a warning message is output after deceleration and the task is terminated. For Velocity Variable setting, it increases path tracking accuracy while reducing instability due to singularities. However, TCP speed change occurs in the singularity section.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
mode |
int8 |
0 |
SINGULARITY_AVOIDANCE_AVOID = 0 SINGULARITY_AVOIDANCE_STOP = 1 SINGULARITY_AVOIDANCE_VEL = 2 |
Return
|
Return Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
success |
bool |
- |
True or False |