Universal Robots UR10e PolyScope X User Manual page 38

5.4.1. Singularity
Description A singularity is a pose that restricts the motion and the ability to position the robot.
The robot arm can stop moving or have very sudden and fast movements when
approaching and leaving singularity.
The following causes singularity in the robot arm:
Outer The singularity occurs because the robot cannot reach far enough or it reaches outside of
workspace the maximum working area.
limit
To avoid: Arrange the equipment around the robot to avoid it reaching outside of the
recommended workspace.
UR10e PolyScope X
WARNING
Make sure that robot motion near a singularity does not create hazards
to anyone within the range of the robot arm, end effector, and workpiece.
•
Set safety limits for the speed and acceleration of the elbow joint.
•
Outer workspace limit
•
Inner workspace limit
•
Wrist alignment
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5. Assembly and Mounting
User Manual