"Singularity avoidance has been a developing topic for many years"
This topic was introduced here:
https://robohub.org/3-types-of-robot-singularities-and-how-to-avoid-them/
There is a solution was mentioned: reduce velocity when robot goes near
singlarity.
Because i cant take result of inverse kinematic function (can make this
function return singularities) and i dont want to touch linuxcnc-core so i
have idea create a new hal component to recalculator singulartities.
The last problem: how to reduce velocity when robot is near singularities
and return old velocity when robot passes it? Is there any hal pin could do
this?
--
Lê Thắng
Phone: (+84) 7722443855
Email: lethang12...@gmail.com
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