How can a singularity error be corrected?

A singularity error occurs when a robot's end effector reaches a configuration that limits its ability to move freely in certain directions. This often happens in robotic arms due to the arrangement of joints and links. Correcting a singularity typically involves making adjustments to the configuration of the joints of the robot.

Adjusting Joint 5 by +/- 10 degrees is effective because it alters the orientation of the robot’s wrist and its ability to orient the end effector to perform tasks without losing degrees of freedom. By carefully adjusting the angles of specific joints, you can reconfigure the robot's joint arrangement and avoid singularity conditions.

In contrast, adjustments to Joint 4 or changes in the TCP settings may not sufficiently address the singularity itself, as those options don’t necessarily provide the needed shift in the robot's workspace. Restructuring the robot path could help by rerouting how the robot moves, but it does not directly solve the issue of singularity arise from a combination of joint angles. Hence, modifying Joint 5 offers a direct approach to resolving singularity issues in many cases.