Singularity Example

▶ Singularity Example — Watch the video

Presented by Fabrizio (MRMC). Source: talk.mrmoco.com, "Setting Up MRMC Mimic Handwheels for Cartesian Mimic on a Bolt Pan/Tilt," post #9.

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Okay, in this video I'm going to show how, when these handwheels are used with the Bolt, you need to be careful — because the Bolt was not designed to have pan and tilt axes for the camera. So when you move it by hand, and not in a programmed way, you can send it into a singularity, which is a bad position for the robot, and you can get into trouble. So I just want to show you what the problem can be.

So I'm about to record along the move so that we can then add pan and tilt. The move itself is not moving the robot, but I can use the handwheels to pan and tilt, and this is being recorded. So imagine a move where you are doing this — adjusting pan and tilt manually while the move is running.

Because of the nodal offset, you can see that when you pan and tilt the camera, the whole arm is moving — and you have to be careful that you don't go into a dangerous position like this, otherwise the robot can just jump and trip, because it's going into a Tilt 90° position. This can happen quite easily when you are moving this manually, so you need to be careful not to be in this kind of situation.