ABB CRB 15000 Product Manual page 116

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3 Installation and commissioning

3.6.1 Information about software for the CRB 15000

Some typical examples of singularity positions for GoFa are shown here.

Typical arm singularities

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For more information about singularity, see Technical reference manual - RAPID

Overview, section Singularities.

Typical wrist singularities

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Product manual - CRB 15000

3HAC077389-001 Revision: L

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