# Avoiding Singularity

**URL:** <https://tech-community.robotics.abb.com/t/avoiding-singularity/7079>\
**Category:** RobotStudio\
**Tags:** movement, path-planning, singularity, movel\
**Created:** [April 1, 2016, 6:15pm UTC](https://tech-community.robotics.abb.com/t/avoiding-singularity/7079 "2016-04-01T18:15:56Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![SteveMob](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/stevemob/32/1600_2.png) [@SteveMob](https://tech-community.robotics.abb.com/u/SteveMob)\
**Post date:** [April 1, 2016, 6:15pm UTC](https://tech-community.robotics.abb.com/t/avoiding-singularity/7079/1 "2016-04-01T18:15:56Z")

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Hello,

I have a question regarding singularity issues. If I have a Linear Movement and at some point during that movement, the robot runs into singularity, is there a way to essentially tell the robot to deviate from the path ever so slightly to get out of or avoid singularity, and then resume it’s original path again? If this is possible, can someone tell me how I might go about doing this?

Thanks,  
SM

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**Author:** ![Neily03](https://avatars.discourse-cdn.com/v4/letter/n/c6cbf5/32.png) [@Neily03](https://tech-community.robotics.abb.com/u/Neily03)\
**Post date:** [April 2, 2016, 6:52pm UTC](https://tech-community.robotics.abb.com/t/avoiding-singularity/7079/2 "2016-04-02T18:52:55Z")

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Use the command - “SingArea \Wrist;”

"The orientation of the tool may be changed slightly to pass a singular point (axes 4 and 6 in line).

Robots with less than six axes may not be able to reach an interpolated tool orientation. By using SingArea \Wrist the robot can achieve the movement but the orientation of the tool will be slightly changed."

And then “SingArea \Off” when you’re done.

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<div class="post-metadata">

**Author:** ![SteveMob](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/stevemob/32/1600_2.png) [@SteveMob](https://tech-community.robotics.abb.com/u/SteveMob)\
**Post date:** [April 4, 2016, 4:20pm UTC](https://tech-community.robotics.abb.com/t/avoiding-singularity/7079/3 "2016-04-04T16:20:19Z")

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Thanks! I will try that.