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I see, so it is the distance between A5 and robot base that are causing these singularities. I understand now, thank you so much for such a quick and insightful reply!

Hi Johannes,

I am trying to create a simple tool path for robotic punching/stippling. The simulation works as intended, but I have notice that for some of the points closer to the robot base, A4 and A6 axis rotates as the robot arm homes in on the points.

I learned from manual jogging the robot that it can home in on any points within the designated work space (the square boundary) without needing to rotate A4 and A6 at all (and this is preferred). And as I increase the number of points for the robot arm to move to, some of the points even become unreachable because of this unwanted axis rotations.

Is there a way to "lock" the axes so that I would't get this rotation? It seem that this problem simply just go away when I move my work space further away (maybe the software limit deem the points too close to the robot?), but still, it is kind of annoying and I am wondering if there is a better way to go about this in case I need to work with a tool that axes rotation matters.

Thank you.