简述工业机器人奇异位种类英语

简述工业机器人奇异位种类英语
## Types of Industrial Robot Singularities.
Industrial robots are complex machines that can perform a wide range of tasks. However, there are certain limitations to their movement, and one of these is the presence of singularities. A singularity is a point in the robot's workspace where the robot loses one or more degrees of freedom. This can make it difficult or impossible for the robot to perform certain tasks.
There are two main types of singularities:
Kinematic singularities occur when the robot's joints reach their limits of motion. This can happen when the robot is trying to reach a point that is too far away, or when it is trying to move in a direction that is not allowed by its design.
Dynamic singularities occur when the robot's forces
and moments are not balanced. This can happen when the robot is trying to lift a heavy object, or when it is trying to move quickly.
Singularities can be a problem for industrial robots because they can cause the robot to lose control or to damage itself. It is important to be aware of the singularities of a robot before using it, so that you can avoid them.
Here is a more detailed description of each type of singularity:
### Kinematic Singularities.
Kinematic singularities occur when the robot's joints reach their limits of motion. This can happen when the robot is trying to reach a point that is too far away, or when it is trying to move in a direction that is not allowed by its design.
There are two types of kinematic singularities:
Type 1 singularities occur when the robot's joints reach their maximum or minimum limits of motion. This can happen when the robot is trying to reach a point that is too far away, or when it is trying to move in a direction that is not allowed by its design.
Type 2 singularities occur when the robot's joints are in a position where they are collinear or coplanar. This can happen when the robot is trying to move in a direction that is not allowed by its design.
Kinematic singularities can be a problem because they can cause the robot to lose control or to damage itself. It is important to be aware of the kinematic singularities of a robot before using it, so that you can avoid them.
### Dynamic Singularities.
Dynamic singularities occur when the robot's forces and moments are not balanced. This can happen when the robot is trying to lift a heavy object, or when it is trying to move
quickly.
There are two types of dynamic singularities:
Type 1 singularities occur when the robot's forces and moments are not balanced in a static sense. This can happen when the robot is trying to lift a heavy object, or when it is trying to move quickly.
Type 2 singularities occur when the robot's forces and moments are not balanced in a dynamic sense. This can happen when the robot is trying to move quickly, or when it is trying to change direction.
Dynamic singularities can be a problem because they can cause the robot to lose control or to damage itself. It is important to be aware of the dynamic singularities of a robot before using it, so that you can avoid them.
### Avoiding Singularities.
There are a number of ways to avoid singularities when
using industrial robots. These include:
Using a robot that is designed to avoid singularities. There are a number of robots on the market that are designed to avoid singularities. These robots typically have a larger workspace and a more flexible design than robots that are not designed to avoid singularities.
Programming the robot to avoid singularities. It is possible to program a robot to avoid singularities by using a technique called singularity avoidance. Singularity avoidance algorithms are designed to find a path for the robot that avoids singularities.
Using a sensor to detect singularities. It is possible to use a sensor to detect singularities. This type of sensor can be used to stop the robot before it reaches a singularity.
By following these tips, you can avoid singularities when using industrial robots. This will help to keep your robot safe and productive.。