Meaning of Singularity Factor

[Allan]

Hi,

I have a very simple question, but one that I have not yet been able to find an answer to on the forum (please direct me to it, if it is there :)).

On the KUKA|PRC Core component analysis window, there is a slider with the name Singularity Factor.

What exactly does this mean and do? How should it be used?

All I can see is that when I have a robot path with excessive joint velocities due to near singularities, the higher the singularity factor, the less points in the path are marked as having excessive joint velocities.

I have attached an example where a factor value of 5 has less yellow bands than a factor value of 2.

Elsewhere on the forum I saw mention of adding a tuning factor to account for the fact that robot motions in real life are not quite as exact and fast as in a digital world. Hence, what can be earmarked as an excessive joint velocity may not be an issue in real life. Is that something to do with the singularity factor?

Many thanks,
Allan

[Johannes @ Robots in Architecture]

Hello,

Your last sentence is correct - the robot simulation is not 100% accurate. While the position of the robot on the path gets very, very close, the acceleration and deceleration ramps are complex, not documented and therefore not 1:1 implemented. But they have got a big impact on singularities, i.e, when/if an axis exceeds its maximum speed.
The factors allows you to fine tune the sensitivity, if needed. It's mostly useful for automated processes where you e.g. want to minimize that to a certain degree. Or if you are bothered by the component showing that message as a warning.

Best,
Johannes

[Allan]

Hi Johannes,

Thanks for explaining the meaning of the singularity factor. It makes good sense. Especially since the Kuka Core component does not necessarily know exactly what kind of $ACC.ORI/$VEL.ORI values you are using on the robot or other limits you may have configured on the robot controller regarding axis speed and acceleration.

Kind regards,
Allan