Section 05 · 4 entries
Singularity
Where the maths runs out.
4 entries
In reading order- 01Where the maths runs outIn certain poses two axes line up and the arm loses a degree of freedom; the controller demands infinite speed to continue and stops instead.
- 02Wrist flipThe alarming fast rotation as an arm passes near a singular pose.
- 03Planning around itChoosing an approach that never puts the wrist in line with the shoulder.
- 04Reach is not a sphereThe working envelope has holes in it, including one right in front.