Orientation

[molae2041]

Hi,

I am probably being simple and missing something obvious, but how do you know where to position the orient point (assuming it's supposed to be a point) within rhino. At the moment I am positioning it by trial and error which isn't the most efficient way. Also Is there a way of counting singularities, like the collision counter  ?

Thanks
Math

[Johannes @ Robots in Architecture]

Hello Math,

The position of the orientation point depends solely on the process, there unfortunately is no "optimum" way of placing it. For example, if you are working towards one side of the robot, you probably want to position it to the other side, thereby gaining additional reach.
If you are working in a pretty standard setup where the robot does something on a table somewhere around it, the common singularities happen with Cartesian movements (e.g. LIN) where A5 is close to 0. The other types become a problem e.g. when you work over the robot. So you could check for that, if you want a specific number!

Best,
Johannes