In singularity recovery, after pressing COORD to select Joint, the next step is to move Joint by plus or minus 10 degrees.

• A. +/- 20 degrees
• B. Rotate wrist
• C. +/- 10 degrees
• D. Return to home

Answer: (C)

The move is about escaping a singular posture with controlled, predictable action. In singularity recovery, you switch to COORD and select Joint so you can nudge a single axis rather than sweeping the whole arm. A small, fixed increment on that joint—about ten degrees in either direction—lets you move away from the problematic alignment safely. This step size provides enough displacement to exit the singular region without overshooting or approaching joint limits, which could cause unstable or abrupt motion. Larger steps, like twenty degrees, increase the risk of overshoot and make the response harder to control. Rotating the wrist isn’t the intended action here because the recovery relies on direct joint adjustment, and returning to home would end the corrective attempt rather than continue the recovery.