Kinematic Singularity Avoidance
The control software calculates robot paths so that axis configurations with infinite speeds are avoided. This prevents abrupt motion stops and welding defects.
Physical-Chemical Working Principle
Kinematic singularity is a condition in which a robot's speed or acceleration becomes infinite. This occurs when two or more axes of the robot move in a way that their movements become interdependent and independent control is no longer possible.
Metallurgical Relevance & Risks in Welding
Kinematic singularities can cause abrupt motion stops. These can lead to mechanical stresses that can damage the tool or the robot. Furthermore, irregular movement patterns can cause weld defects, such as uneven deformation or lack of weld density.
Shop Practice & Procedures
To avoid kinematic singularities, robot paths must be planned so that no axis configurations with infinite speeds occur. This can be achieved by careful path planning and the use of software that detects and avoids these singularities. It is important to regularly update the software and check the robots for proper operation.