singularity

A singularity is a problematic robot configuration occurring when rotation axes become aligned, resulting in the temporary loss of one degree of freedom. At this point, the robot loses the ability to move smoothly in certain directions and cannot calculate joint velocities correctly, as the Jacobian matrix becomes non-invertible. Singularities typically occur at boundary positions like fully extended arms or wrist alignments, and modern robots detect and avoid these configurations through path planning and redundant degrees of freedom to ensure safe and stable operation.