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Wevolver.com
1K views · 54 reactions | The typical six-axis industrial robot arm...
Wevolver.com. . The typical six-axis industrial robot arm has three types of robot singularity: wrist singularities, elbow singularities, and shoulder singularities. A wrist singularity occurs when the axes of joints 4 and 6 are coincident. An elbow singularity occurs when the wrist center lies in the same plane as the axes of joints 2 and 3 ...
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