I believe the issue I'm experiencing is called a singularity. I set my waypoint using a pose that keeps the joints fairly far from their limits. Sometimes when I run the program it moves the way it was programed and other times the robot will collide with itself by taking a different pose to reach the same waypoint. Is there a way to mitigate this. I've tried both move l and move j and a combination of both, I have also tried adding more waypoints. Thank you all in advance.  

Hello @AZalmanov,

Could you send us a video so we have a better understanding of what is happening?  You said you have the same problem when using moveJ? 

Hi @AZalmanov ,

Here a quick tip.

You need to avoid the singularity points on the UR.

 

Also, everytime you change the position of the robot use a MoveJ.

What kind of alarms you are having with your program?

I added a few more waypoints and used blend radiuses. Everything is working except I get strange jerks if my speed is too fast. Still need to tweak a little. I have been trying to upload to YouTube all morning but I believe our app control doesn't allow it.

Yeah I got a program that has the jerking in it as well. Best thing we did was slow the joint speed down a bit and the overall speed we reduced 10%. Try that.

Also try to have less acceleration