Preparing the published article.
Singularity and Workspace Limits
Reachable and usable are different things.
The terms
| Term | Meaning |
|---|---|
| Singularity | A posture where the arm loses freedom of motion |
| Reach limit | The furthest point from the base |
| Axis limit | A joint at its mechanical travel limit |
| Orientation limit | A pose the wrist cannot achieve |
| Joint speed limit | The point where one axis must move faster than it can |
Practical consequences
- Paths near singularities produce erratic speed and poor accuracy.
- Some points are only reachable in awkward postures that age badly.
- Simulation catches most of these before commissioning.
Path feasibility is an engineering question. Ask the integrator to show the workspace check.