In order to correct a singularity error, which joint should be moved?

To correct a singularity error in a robotic system, it is essential to understand how the joints of the robot relate to its position and orientation in space. A singularity occurs when the robot's configuration causes a loss of degrees of freedom, making it unable to move in certain directions.

Moving Joint 5 by +/- 10 degrees can be particularly effective in resolving singularities because this joint often plays a crucial role in adjusting the end effector's orientation. By fine-tuning the position of Joint 5, you can often regain full control and mobility over the robot's movements, re-establishing a favorable working configuration.

The other joints, while they may have their own adjustments, do not typically address the singularity issue as effectively or might lead to larger adjustments that could affect the overall positioning more drastically. Thus, adjusting Joint 5 by a small increment can help navigate out of singularities while maintaining a more stable and precise control over the robot's actions.