What is the method to correct a singularity error?

To correct a singularity error, moving joint 5 by a specified degree, such as +/- 10 degrees, is often the effective method. A singularity error typically occurs when the robot's end effector is positioned in such a way that the coordinate axes of the end effector become aligned, leading to a loss of control in movement and direction.

By adjusting joint 5, you provide a new configuration that helps avoid the condition where the robot arm configuration results in gimbal lock or similar issues, thus restoring control and allowing for continued operation without interference from the singularity. This adjustment realigns the end effector's workspace, helping to navigate around the singularity and allowing for smooth, defined motions.

Other potential methods like adjusting other joints or changing tool center point origins may only change the scenario without effectively resolving the singularity issue. Simply shifting the origin of the tool center point might not directly address the configuration causing the singularity. Changing the mode to T1 typically refers to a specific operational mode and is unlikely to rectify the mechanical positioning issues causing the singularity error. Therefore, the most practical and direct approach to mitigate the singularity is to adjust the relevant joint, like joint 5, to get out of the problematic configuration.