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Breaking the circle
Transversal Machines
Industrial robots have changed remarkably little since the 1970s.
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Most still rely on the same six-axis, elbowed geometry that limits their reach, forces them to sweep through a lot of space as they move and makes them freeze or lose control in discrete regions of the workspace. When two rotational axes align, motion equations break down, producing the familiar robot freeze — a singularity that planners must work around.

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