Omron Techman Robot Safety Manual page 8

Figure 2: Checksum .......................................................................................................................................... 30
Figure 3: The Definition of R . ...................................................................................................................... 35
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Figure 4: Extensible Singularity Point in Space ................................................................................................ 36
Figure 5: Wrist Singularity Point in Space ........................................................................................................ 36
Figure 6: The Solution when Encountering Singularity Point in Space (1/2) .................................................... 37
Figure 7: The Solution when Encountering Singularity Point in Space (2/2) .................................................... 38
Safety Manual TECHMAN ROBOT Safety System 3.3 8