Figure 7: The Solution When Encountering Singularity Point In Space (2/2) - Omron Techman Robot Safety Manual

Figure 7: The Solution when Encountering Singularity Point in Space (2/2)

This example demonstrates how to avoid the rotational axes of the fourth and sixth joint being parallel, when
the user needs to move the robot according to tool Z-axis.
Safety Manual TECHMAN ROBOT Safety System 3.3 38