A4 rotation

[felipe.veliz.f]

Hi,

I hope you all are okay.

I would like to understand the reason for the unnecessary rotation of axis 4. Why is it?.
I have two planes in the same position but with different rotation.

Attached definition and image.




Regards,

Felipe

[Johannes @ Robots in Architecture]

Hello,

Please excuse the late reply due to some issues with the forum.
What you are seeing is a singularity - the robot is stretched out and the axes of A4 and A6 are nearly overlapping, which is causing the problems that you are observing. Try to angle your tool to avoid that. For more information on singularities also check the KUKA manual.

Best,
Johannes