Singularity

If you observe some of the robot’s joints to move very fast or the robot stopping with an over speed error in certain points, you may be experiencing a singularity. It’s out of scope of this documentation to explain the mathematical details of singularity, but we can provide an intuitive explanation.

In robotics, singularities occur in certain configurations given by the robot’s kinematics where the robot loses one of its degrees of freedom. Singularities are only relevant for linear movements.