To correct Singularity Errors, how should Joint 5 be adjusted?

The adjustment of Joint 5 by +/- 10 degrees is important in this context because singularity errors often occur when the robot's end effector is in a position where the joint angles are at extreme configurations, leading to the loss of a unique solution for the inverse kinematics. Adjusting Joint 5 within a small range, such as +/- 10 degrees, allows for the exploration of nearby positions that can help avoid the singularity without drastically changing the orientation or position of the end effector. This method provides flexibility to find a workable configuration while maintaining the integrity of the movement.

The choice of +/- 10 degrees is particularly effective because it does not impose a significant change upon Joint 5, which means it is possible to find a position that resolves the singularity without causing additional issues with the robot's range of motion or achieving the desired task output. Substantial adjustments, such as a full rotation, could lead to other problems or make the robot's movements more erratic and less precise.