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六軸機械手臂奇異點有哪些嗎？ (mecademic meca500六軸機械手臂) 當機械手臂進行直線運動模式(Linear Mode)，系統並未事先計算好過程中的手臂姿態(Configuration)，倘若在運動過程中遇到奇異點，會造成機械手臂卡住或跳錯誤。 常見的奇異點發生時機 由於奇異點與機械手臂的姿態相關，並不是一個給定的位置，所以要列出所有的奇異點是有難度的，不過在此依照奇異點發生的狀況不同，將六軸機械手臂的奇異點分為三個種類： 1.Wrist Singularity (腕關節奇異點)： 當第4軸與第6軸共線，會造成系統嘗試著將第4軸與第6軸瞬間旋轉180度。 2.Shoulder Singularity (肩關節奇異點)： 當第1軸與腕關節中心C點(第5軸與第6軸之交點)共線，會造成系統嘗試將第1軸與第4軸瞬間旋轉180度。此類型有個特殊的情況，當第1軸與腕關節中心共線，且與第6軸共線時，會造成系統嘗試第1軸與第6軸瞬間旋轉180度，稱之為Alignment Singularity (對齊奇異點)。 3.Elbow Singularity (肘關節奇異點)： 當腕關節中心C點
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