Robot Teaching Pendant Singularity Visualization

The system provides real-time visual feedback by displaying the calculated movement direction and singularity information on the display device. The determination section continuously monitors whether the calculated movement direction points toward a singularity, and this information is fed back to the operator through visual indicators, enabling the operator to adjust the movement direction to avoid singularities during orthogonal jog operations.

The control device acts as an intermediary between the operator's jog operation inputs and the robot's actual movement. It calculates the movement direction based on the robot coordinate system, determines singularity information, and provides this processed information to the display device, which then presents it to the operator. This intermediary processing layer translates complex robot state information into understandable visual feedback.

The system performs preliminary determination of singularity positions and movement directions before the robot actually attempts to move to potentially problematic positions. By calculating and displaying singularity information in advance during orthogonal jog operations, the operator can plan and adjust the movement path to avoid singularities before they are encountered, ensuring reliable robot control while maintaining access to extended positions.

The system takes preliminary anti-action by identifying and warning about movement directions that would lead to singularities before the robot actually moves in those directions. The determination section proactively calculates whether the next intended movement would approach a singularity, and this preventive information is displayed to the operator, allowing corrective action to be taken before the unreliable singularity region is reached.